agv/opentcs
8
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
xuzhiheng
2025-06-05 12:21:31 +08:00
parent 8c508f3a74
commit 503771fe7c
64 changed files with 2911 additions and 537 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
opentcs-common/src/main/java/org/opentcs/charge/ChargeStrategy.java Normal file
View File

@@ -0,0 +1,56 @@
package org.opentcs.charge;
import java.util.ArrayList;
import java.util.HashMap;
import org.opentcs.charge.entity.ChargePiles;
import org.opentcs.data.model.Vehicle;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
* @date 2025-5-19
* @desc 充电策略
*/
public class ChargeStrategy {
/**
* LOG
*/
private static final Logger LOG = LoggerFactory.getLogger(ChargeStrategy.class);
/**
* 所有车辆电量：key为车辆名称，value为电量百分比
*/
public static HashMap<String, Integer> vehiclePower = new HashMap<>();
/**
* 充电桩维护对象
*/
public static ArrayList<ChargePiles> AllChargePiles;
/**
* 闲时充电
* @param vehicle 车辆
* @param power 电量百分比
* @param batteryStatus 电池状态
* @param energyLevelThresholdSet 设定阈值
*/
public synchronized static void chargeStrategy(String vehicle, Integer power, Integer batteryStatus, Vehicle.EnergyLevelThresholdSet energyLevelThresholdSet) {
LOG.debug("vehicle: {}, start exec chargeStrategy" , vehicle);
//充电桩数组还是为空，直接返回
if (AllChargePiles.isEmpty()) {
//无充电桩，无法执行自动充电,返回未知状态
return;
}
//如果 （电池为放电状态）
if (batteryStatus == 0) {
} else { //释放充电中的车辆
}
}
}

24
opentcs-common/src/main/java/org/opentcs/charge/entity/ChargePiles.java Normal file
View File

@@ -0,0 +1,24 @@
package org.opentcs.charge.entity;
import lombok.Data;
@Data
public class ChargePiles {
/**
* 充电桩名称
*/
private String pilesName;
/**
* 占用车辆
*/
private String vehicleName;
/**
* 充电桩状态：true充电中，false空闲
*/
private Boolean status;
/**
* 电量
*/
private Integer power;
}

2
opentcs-common/src/main/java/org/opentcs/common/GuestUserCredentials.java
View File

@@ -18,7 +18,7 @@ public interface GuestUserCredentials {
/**
* 主机IP
*/
String IP = "192.168.124.109";
String IP = "0.0.0.0";
/**
* 内核开放端口
*/

4
opentcs-common/src/main/java/org/opentcs/common/LoopbackAdapterConstants.java
View File

@@ -53,9 +53,5 @@ public interface LoopbackAdapterConstants {
* AGV 端口
*/
String AGV_PORT = "AGV:PORT";
/**
* 定制点位类型，1=WMS请求点位
*/
String POINT_TYPE = "tcs:point";
}

232
opentcs-common/src/main/java/org/opentcs/communication/http/HttpClient.java Normal file
View File

@@ -0,0 +1,232 @@
package org.opentcs.communication.http;
import com.alibaba.fastjson.JSON;
import java.io.IOException;
import okhttp3.MediaType;
import okhttp3.OkHttpClient;
import okhttp3.Request;
import okhttp3.RequestBody;
import okhttp3.Response;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
* @date 2025/5/12
* @desc http客户端
*/
public class HttpClient {
private static final Logger LOG = LoggerFactory.getLogger(HttpClient.class);
private final OkHttpClient client;
private final String url = "http://192.168.124.121:2005";
public HttpClient() {
this.client = new OkHttpClient();
}
/**
* 发送 POST 请求
* @return ApiResponse 对象
*/
public String sendCommand(Object data) {
String jsonBody = JSON.toJSONString(data);
System.out.println("SENDING POST REQUEST data:" + jsonBody);
LOG.debug("SENDING POST REQUEST data: {}", jsonBody);
RequestBody body = RequestBody.create(jsonBody, MediaType.get("application/json"));
Request request = new Request.Builder().url(url).post(body).build();
try (Response response = client.newCall(request).execute()) {
return response.body().string();
} catch (IOException e) {
throw new RuntimeException("POST Request Failed", e);
}
}
/**
* 测试代码
*/
public static void main(String[] args) {
HttpClient httpClient = new HttpClient();
// { //0x02
// //变量成员
// ArrayList<org.opentcs.communication.http.dto.kc.cmd02.ValueMember> valueMemberList = new ArrayList<>();
// org.opentcs.communication.http.dto.kc.cmd02.ValueMember valueMember = new org.opentcs.communication.http.dto.kc.cmd02.ValueMember();
// valueMember.setLength(4);
// valueMember.setOffset(0);
// valueMemberList.add(valueMember);
//
// //变量结构体
// ArrayList<org.opentcs.communication.http.dto.kc.cmd02.StrValue> strValueList = new ArrayList<>();
// org.opentcs.communication.http.dto.kc.cmd02.StrValue strValue = new org.opentcs.communication.http.dto.kc.cmd02.StrValue();
// strValue.setName("NaviControl");
// strValue.setCount(1);
// strValue.setMember(valueMemberList);
// strValueList.add(strValue);
//
// //请求对象
// Request02 request02 = new Request02();
// request02.setVar(strValueList);
// request02.setVarCount(1);
//
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x02), "OPENTCS", "KC-CTRL", request02);
//
// httpClient.sendCommand(baseRequestTo);
// }
// { //0xB0
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0xB0), "OPENTCS", "KC-CTRL", new Object());
// httpClient.sendCommand(baseRequestTo);
// }
// { //0xB2
// //action: 0x01
// Action01 action01 = new Action01();
// action01.setIsStopImmediately(1);
// ArrayList<Action01> actionList = new ArrayList<>();
// actionList.add(action01);
//
//// //action: 0x02
//// Action02 action02 = new Action02();
//// action02.setOrderId(1);
//// action02.setTaskKey(1);
//// ArrayList<Action02> actionList = new ArrayList<>();
//// actionList.add(action02);
////
//// //action: 0x03
//// Action03 action03 = new Action03();
//// action03.setOrderId(1);
//// action03.setIsStopImmediately(1);
//// ArrayList<Action03> actionList = new ArrayList<>();
//// actionList.add(action03);
//
// RequestB2 requestB2 = new RequestB2();
// requestB2.setActionType(KcActionCmdEnum.getValueByKey(0x03));
// requestB2.setActionParallelManner(0x02);
// requestB2.setParamSize(8);
// requestB2.setParamData(actionList);
//
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0xB2), "OPENTCS", "KC-CTRL", requestB2);
// httpClient.sendCommand(baseRequestTo);
// }
// { //0x17
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x17), "OPENTCS", "KC-CTRL", new Object());
// httpClient.sendCommand(baseRequestTo);
// }
// { //0x1F
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x1F), "OPENTCS", "KC-CTRL", new Object());
// httpClient.sendCommand(baseRequestTo);
// }
// { //0x14
// Request14 request14 = new Request14();
// request14.setX(3.0);
// request14.setY(2.0);
// request14.setAngle(1.0);
//
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x14), "OPENTCS", "KC-CTRL", request14);
// httpClient.sendCommand(baseRequestTo);
// }
// { //AF
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0xAF), "OPENTCS", "KC-CTRL", new Object());
// httpClient.sendCommand(baseRequestTo);
// }
// { //0x03
// //变量成员
// ArrayList<ValueMember> valueMemberList = new ArrayList<>();
// org.opentcs.communication.http.dto.kc.cmd03.ValueMember valueMember = new org.opentcs.communication.http.dto.kc.cmd03.ValueMember();
// valueMember.setLength(4);
// valueMember.setOffset(0);
// valueMember.setVelue(1);
// valueMemberList.add(valueMember);
//
// //变量结构体
// ArrayList<StrValue> strValueList = new ArrayList<>();
// org.opentcs.communication.http.dto.kc.cmd03.StrValue strValue = new org.opentcs.communication.http.dto.kc.cmd03.StrValue();
// strValue.setName("NaviControl");
// strValue.setCount(1);
// strValue.setMember(valueMemberList);
// strValueList.add(strValue);
//
// //请求对象
// Request03 request03 = new Request03();
// request03.setVar(strValueList);
// request03.setVarCount(1);
//
// BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x03), "OPENTCS", "KC-CTRL", request03);
//
// httpClient.sendCommand(baseRequestTo);
// }
// { //0xAE
// RequestAe ae = new RequestAe();
// ae.setOrderId(1);
// ae.setTaskKey(1);
// 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.setPointId(1);
// point.setPointSerialNumber(0);
// point.setType(0);
// point.setIsFrontAngle(0);
// point.setFrontAngle(0);
// point.setPointActionSize(0);
// point.setPointActionList(new ArrayList<>());
// } else {
// point.setPointId(2);
// point.setPointSerialNumber(2);
// point.setType(1);
// point.setIsFrontAngle(0);
// point.setFrontAngle(0);
// point.setPointActionSize(1);
// for (int j = 0; j < point.getPointActionSize(); j++) {
// //实际代码中修改为实际逻辑
// point.setPointActionList(new ArrayList<>(Arrays.asList("LOAD")));
// }
// }
// pointList.add(point);
// }
//
// ArrayList<Path> pathList = new ArrayList<>();
// for (int i = 0; i < ae.getPathSize(); i++) {
// Path path = new Path();
// path.setPathId(12);
// path.setPathSerialNumber(1);
// path.setFixedAngle(0);
// path.setIsFixedAngle(0);
// path.setDrivePosture(1);
// path.setPathActionSize(0);
// path.setMaximumSpeed(1);
// 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);
// }
}
}

44
opentcs-common/src/main/java/org/opentcs/communication/http/dto/BaseRequestTo.java Normal file
View File

@@ -0,0 +1,44 @@
package org.opentcs.communication.http.dto;
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;
}

16
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/action/RequestAction.java Normal file
View File

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

70
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/RequestB2.java Normal file
View File

@@ -0,0 +1,70 @@
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 +
'}';
}
}

29
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/action/Action01.java Normal file
View File

@@ -0,0 +1,29 @@
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 +
'}';
}
}

42
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/action/Action02.java Normal file
View File

@@ -0,0 +1,42 @@
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 +
'}';
}
}

42
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/action/Action03.java Normal file
View File

@@ -0,0 +1,42 @@
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 +
'}';
}
}

38
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/Path.java Normal file
View File

@@ -0,0 +1,38 @@
package org.opentcs.communication.http.dto.kc.move;
import java.util.ArrayList;
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;
}

26
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/Point.java Normal file
View File

@@ -0,0 +1,26 @@
package org.opentcs.communication.http.dto.kc.move;
import java.util.ArrayList;
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;
}

45
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/RequestAe.java Normal file
View File

@@ -0,0 +1,45 @@
package org.opentcs.communication.http.dto.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;
}

17
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/Action01.java Normal file
View File

@@ -0,0 +1,17 @@
package org.opentcs.communication.http.dto.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;
}

21
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/Action02.java Normal file
View File

@@ -0,0 +1,21 @@
package org.opentcs.communication.http.dto.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;
}

21
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/Action03.java Normal file
View File

@@ -0,0 +1,21 @@
package org.opentcs.communication.http.dto.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;
}

25
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/RequestB2.java Normal file
View File

@@ -0,0 +1,25 @@
package org.opentcs.communication.http.dto.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;
}

29
opentcs-common/src/main/java/org/opentcs/communication/http/enums/Actions.java Normal file
View File

@@ -0,0 +1,29 @@
package org.opentcs.communication.http.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;
}
}

75
opentcs-common/src/main/java/org/opentcs/communication/http/enums/KcActionCmdEnum.java Normal file
View File

@@ -0,0 +1,75 @@
package org.opentcs.communication.http.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);
}
}

86
opentcs-common/src/main/java/org/opentcs/communication/http/enums/KcCmdEnum.java Normal file
View File

@@ -0,0 +1,86 @@
package org.opentcs.communication.http.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);
}
}

38
opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteAction.java Normal file
View File

@@ -0,0 +1,38 @@
package org.opentcs.communication.http.service;
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.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
);
HttpClient httpClient = new HttpClient();
httpClient.sendCommand(baseRequestTo);
}
}

160
opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java Normal file
View File

@@ -0,0 +1,160 @@
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 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.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);
}
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(1f);
path.setMax_angle_speed(1f);
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();
//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;
}
}

7
opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java Normal file
View File

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

95
opentcs-common/src/main/java/org/opentcs/communication/mqtt/BrokerInterceptor.java Normal file
View File

@@ -0,0 +1,95 @@
package org.opentcs.communication.mqtt;
import io.moquette.interception.InterceptHandler;
import io.moquette.interception.messages.InterceptAcknowledgedMessage;
import io.moquette.interception.messages.InterceptConnectMessage;
import io.moquette.interception.messages.InterceptConnectionLostMessage;
import io.moquette.interception.messages.InterceptDisconnectMessage;
import io.moquette.interception.messages.InterceptPublishMessage;
import io.moquette.interception.messages.InterceptSubscribeMessage;
import io.moquette.interception.messages.InterceptUnsubscribeMessage;
import io.netty.buffer.ByteBuf;
import io.netty.handler.codec.mqtt.MqttQoS;
import java.nio.charset.StandardCharsets;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
* @date 2025/5/22
* @desc 重写MQTT代理拦截器：用于监听MQTT代理的连接、断开、发布、订阅、取消订阅、消息确认等事件
*/
public class BrokerInterceptor implements InterceptHandler {
/**
* 客户端ID-定义为车辆名称
*/
private String clientID;
private static final Logger LOG = LoggerFactory.getLogger(BrokerInterceptor.class);
@Override public String getID() {
return clientID;
}
@Override
public Class<?>[] getInterceptedMessageTypes() {
return new Class<?>[] {
InterceptConnectMessage.class,
InterceptDisconnectMessage.class,
InterceptConnectionLostMessage.class,
InterceptPublishMessage.class,
InterceptSubscribeMessage.class,
InterceptUnsubscribeMessage.class,
InterceptAcknowledgedMessage.class,
};
}
@Override
public void onConnect(InterceptConnectMessage msg) {
LOG.info("[连接] 客户端ID: {} 连接到服务端", msg.getClientID());
}
@Override
public void onDisconnect(InterceptDisconnectMessage msg) {
LOG.info("[断开] 客户端ID: {} 断开连接", msg.getClientID());
}
@Override
public void onConnectionLost(InterceptConnectionLostMessage interceptConnectionLostMessage) {
}
@Override
public void onPublish(InterceptPublishMessage msg) {
// 解码消息内容
ByteBuf payload = msg.getPayload();
String content = payload.toString(StandardCharsets.UTF_8);
System.out.println("[MessageInterception] topic: " + msg.getTopicName() + ", clientID: " + msg.getClientID() + ", QoS: " + MqttQoS.valueOf(String.valueOf(msg.getQos())) + ", content: " + content);
LOG.info("[MessageInterception] topic: {}, clientID: {}, QoS: {}, content: {}",
msg.getTopicName(),
msg.getClientID(),
MqttQoS.valueOf(String.valueOf(msg.getQos())),
content);
// 必须保留引用计数，防止内存泄漏
payload.retain();
}
// 其他需要实现的接口方法（可以留空）
@Override public void onSubscribe(InterceptSubscribeMessage msg) {}
@Override public void onUnsubscribe(InterceptUnsubscribeMessage msg) {}
@Override public void onMessageAcknowledged(InterceptAcknowledgedMessage msg) {}
/**
* 解析消息内容
* @param msg InterceptPublishMessage
* @return String
*/
private String parsePayload(InterceptPublishMessage msg) {
byte[] payloadBytes = new byte[msg.getPayload().readableBytes()];
msg.getPayload().getBytes(0, payloadBytes);
return new String(payloadBytes, StandardCharsets.UTF_8);
}
}

107
opentcs-common/src/main/java/org/opentcs/communication/mqtt/MqttBrokerServer.java Normal file
View File

@@ -0,0 +1,107 @@
package org.opentcs.communication.mqtt;
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.Unpooled;
import io.netty.handler.codec.mqtt.MqttFixedHeader;
import io.netty.handler.codec.mqtt.MqttMessageType;
import io.netty.handler.codec.mqtt.MqttPublishMessage;
import io.netty.handler.codec.mqtt.MqttPublishVariableHeader;
import io.netty.handler.codec.mqtt.MqttQoS;
import java.io.IOException;
import java.nio.charset.StandardCharsets;
import java.util.Properties;
import org.opentcs.common.GuestUserCredentials;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
* @date 2025/5/22
* @desc MQTT服务
*/
public class MqttBrokerServer {
private static final Logger LOG = LoggerFactory.getLogger(MqttBrokerServer.class);
private Server mqttServer;
public MqttBrokerServer() {
mqttServer = new Server();
}
/**
* start MQTT server
* @throws IOException start MQTT server
*/
public void startMqtt() {
try {
// 从资源目录加载配置文件
Properties configProps = new Properties();
try (var input = getClass().getResourceAsStream("/mqtt.conf")) {
if (input == null) {
throw new IOException("profiles [mqtt.conf] not found");
}
configProps.load(input);
}
// 使用配置文件初始化
IConfig config = new MemoryConfig(configProps);
mqttServer.startServer(config);
mqttServer.addInterceptHandler(new BrokerInterceptor());
} catch (IOException e) {
throw new RuntimeException(e);
}
}
/**
* 关闭MQTT服务
*/
public void stopMqtt() {
mqttServer.stopServer();
LOG.info("MQTT service stopped successfully");
}
/**
* 发送消息给指定客户端 todo 待实现
* @param clientId 客户端ID 暂时定义为车辆ID
* @param qosLevel 服务质量等级
* @param message 消息
*/
public void sendToClient(String clientId, MqttQoS qosLevel, String message) {
// LOG.info("Sending message to client: {}, MqttQoS: {}, message: {}", clientId, qosLevel, message);
//
// String topicPath = TopicBuilder.buildCommandTopic(clientId);
// Topic topic = new Topic(topicPath);
//
// MqttFixedHeader fixedHeader = new MqttFixedHeader(
// MqttMessageType.PUBLISH, // 消息类型
// false, // 是否重复发送
// 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, // 是否保留消息
// 0 // 剩余长度（自动计算）
// );
//
// MqttPublishVariableHeader variableHeader = new MqttPublishVariableHeader(
// topic.toString(), // 主题
// MqttQoS.AT_LEAST_ONCE.value() // 消息ID（QoS>0时需要）
// );
//
// // 将消息内容转换为ByteBuf
// byte[] payload = message.getBytes(StandardCharsets.UTF_8);
// MqttPublishMessage publishMessage = new MqttPublishMessage(
// fixedHeader,
// variableHeader,
// Unpooled.wrappedBuffer(payload)
// );
//
// // 发布消息到指定客户端
// mqttServer.internalPublish(
// publishMessage,
// clientId // 指定接收客户端ID
// );
}
}

66
opentcs-common/src/main/java/org/opentcs/communication/mqtt/MqttClientExample.java Normal file
View File

@@ -0,0 +1,66 @@
package org.opentcs.communication.mqtt;
import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
import org.eclipse.paho.client.mqttv3.MqttCallback;
import org.eclipse.paho.client.mqttv3.MqttClient;
import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
import org.eclipse.paho.client.mqttv3.MqttException;
import org.eclipse.paho.client.mqttv3.MqttMessage;
import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
public class MqttClientExample {
public static void main(String[] args) {
String broker = "tcp://192.168.124.114:1883";
String clientId = "50";
String topic = "vehicles/50/commands";
int qos = 1;
try (MqttClient client = new MqttClient(broker, clientId, new MemoryPersistence())) {
// 配置连接选项
MqttConnectOptions options = new MqttConnectOptions();
options.setCleanSession(true);
options.setAutomaticReconnect(true);
// 设置回调
client.setCallback(new SimpleMqttCallback());
// 连接
client.connect(options);
System.out.println("Connected to broker");
// 先订阅后发布
client.subscribe(topic, qos);
System.out.println("Subscribed to: " + topic);
// 发布消息
String content = "Hello, MQTT";
client.publish(topic, content.getBytes(), qos, false);
System.out.println("Published message: " + content);
// 等待接收消息
Thread.sleep(5000);
} catch (MqttException | InterruptedException e) {
e.printStackTrace();
}
}
private static class SimpleMqttCallback implements MqttCallback {
@Override
public void connectionLost(Throwable cause) {
System.err.println("Connection lost: " + cause.getMessage());
}
@Override
public void messageArrived(String topic, MqttMessage message) {
System.out.printf("[%s] Received: %s%n", topic, new String(message.getPayload()));
}
@Override
public void deliveryComplete(IMqttDeliveryToken token) {
System.out.println("Message delivered");
}
}
}

20
opentcs-common/src/main/java/org/opentcs/communication/mqtt/TopicBuilder.java Normal file
View File

@@ -0,0 +1,20 @@
package org.opentcs.communication.mqtt;
/**
* @author xuzhiheng
* @date 2025/5/22
* @desc 返回mqtt主题
*/
public class TopicBuilder {
//预定义模板
private static final String COMMAND_TOPIC_TEMPLATE = "vehicles/%s/commands";
/**
* 构建命令主题（带QoS验证）
*/
public static String buildCommandTopic(String clientId) {
return String.format(COMMAND_TOPIC_TEMPLATE, clientId);
}
}

223
opentcs-common/src/main/java/org/opentcs/communication/tcp/TcpClient.java Normal file
View File

@@ -0,0 +1,223 @@
package org.opentcs.communication.tcp;
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.net.Socket;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicBoolean;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
public class TcpClient
implements AutoCloseable {
private static final Logger LOG = LoggerFactory.getLogger(TcpClient.class);
// 配置参数
private final String serverIp;
private final int serverPort;
private final int heartbeatInterval; // 心跳间隔（秒）
private final int reconnectInterval; // 重连间隔（秒）
// 网络连接
private Socket socket;
private PrintWriter writer; //输入
private BufferedReader reader; //输出
// 状态管理
private final AtomicBoolean connected = new AtomicBoolean(false);
private final AtomicBoolean running = new AtomicBoolean(true);
// 线程池
private final ScheduledExecutorService executor = Executors.newScheduledThreadPool(3);
// 监听器接口
public interface TcpListener {
void onMessageReceived(String message);
void onConnectionStatusChanged(boolean connected);
}
private TcpListener listener;
public TcpClient(String ip, int port) {
this.serverIp = ip;
this.serverPort = port;
this.heartbeatInterval = 5;
this.reconnectInterval = 3;
}
public void setListener(TcpListener listener) {
this.listener = listener;
}
public void connect() {
executor.execute(() -> {
while (running.get()) {
try {
initConnection();
startHeartbeat();
startReading();
setConnected(true);
// 保持重连循环中断
TimeUnit.SECONDS.sleep(Long.MAX_VALUE);
}
catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
catch (Exception e) {
setConnected(false);
System.err.println("Connection error: " + e.getMessage());
LOG.debug("Connection error: " + e.getMessage());
}
tryReconnect();
}
});
}
private void initConnection() throws IOException {
socket = new Socket(serverIp, serverPort);
socket.setKeepAlive(true);
writer = new PrintWriter(socket.getOutputStream(), true);
reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
}
/**
* 启动定时任务，每隔固定时间（heartbeatInterval）发送一次心跳包,只有在客户端处于连接状态（connected为true）时才发送。
*/
private void startHeartbeat() {
executor.scheduleAtFixedRate(() -> {
if (connected.get()) {
sendData("HEARTBEAT");
}
}, heartbeatInterval, heartbeatInterval, TimeUnit.SECONDS);
}
/**
* 从服务器读取消息
*/
private void startReading() {
executor.execute(() -> {
try {
String inputLine;
while ((inputLine = reader.readLine()) != null) {
if (listener != null) {
listener.onMessageReceived(inputLine);
}
}
}
catch (IOException e) {
setConnected(false);
}
});
}
/**
* 重连 TCP 服务器
*/
private void tryReconnect() {
if (!running.get()) return;
System.out.println("Attempting reconnect in " + reconnectInterval + "s...");
LOG.debug("Attempting reconnect in " + reconnectInterval + "s...");
try {
TimeUnit.SECONDS.sleep(reconnectInterval);
}
catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
}
/**
* 发送数据
* @param data 数据
*/
public synchronized void sendData(String data) {
if (connected.get()) {
writer.println(data);
}
}
/**
* 设置连接状态
* @param status 状态
*/
private void setConnected(boolean status) {
connected.set(status);
if (listener != null) {
listener.onConnectionStatusChanged(status);
}
}
/**
* 获取连接状态
* @return boolean
*/
public boolean getConnected() {
return connected.get();
}
/**
* 关闭连接
*/
@Override
public void close() {
running.set(false);
executor.shutdownNow();
try {
if (socket != null) socket.close();
if (writer != null) writer.close();
if (reader != null) reader.close();
}
catch (IOException e) {
System.err.println("Close error: " + e.getMessage());
LOG.debug("Close error: " + e.getMessage());
}
}
// 使用示例
public static void main(String[] args) throws InterruptedException {
// 创建客户端实例
TcpClient client = new TcpClient("192.168.124.114", 60000);
// 设置监听器
client.setListener(new TcpListener() {
@Override
public void onMessageReceived(String message) {
System.out.println("[RESPONSE] " + message);
LOG.debug("[RESPONSE] " + message);
}
@Override
public void onConnectionStatusChanged(boolean connected) {
System.out.println("[STATE] CONNECTION-STATUS: " + (connected ? "SUCCESS" : "FAIL"));
LOG.debug("[STATE] CONNECTION-STATUS: " + (connected ? "SUCCESS" : "FAIL"));
}
});
// 启动连接
client.connect();
// 等待连接建立
Thread.sleep(2000);
// 发送测试数据
new Thread(() -> {
for (int i = 1; i <= 3; i++) {
String data = "TEST MESSAGE-" + i;
System.out.println("[SEND] " + data);
client.sendData(data);
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
}
}).start();
}
}

56
opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java
View File

@@ -106,27 +106,27 @@ public class KCCommandDemo {
// }
// }
// {
// //0x02(read操作)
// AgvEvent agvEvent = readValue();
// printInfo(agvEvent);
// RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
// if(rcv.isOk()){
// System.out.println();
// System.out.println("received transationId : "+ "isok:"+rcv.isOk());
// printInfo(rcv);
// ReadRsp readRsp = new ReadRsp(rcv.getDataBytes());
// if(readRsp.isOk()){
// //get and parse value
// System.out.println("read ok");
// }else {
// System.out.println("read failed");
// }
// }else {
// System.out.println();
// System.out.println("received transationId : "+ "isok:"+rcv.isOk());
// }
// }
{
//0x02(read操作)
AgvEvent agvEvent = readValue();
printInfo(agvEvent);
RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
if(rcv.isOk()){
System.out.println();
System.out.println("received transationId : "+ "isok:"+rcv.isOk());
printInfo(rcv);
ReadRsp readRsp = new ReadRsp(rcv.getDataBytes());
if(readRsp.isOk()){
//get and parse value
System.out.println("read ok");
}else {
System.out.println("read failed");
}
}else {
System.out.println();
System.out.println("received transationId : "+ "isok:"+rcv.isOk());
}
}
// {
// //0x03(切换手自动)
@@ -277,11 +277,11 @@ public class KCCommandDemo {
// Thread.sleep(100);
// ActImmediately.reset();
// }
{
float height = 1.3f;
byte modeOfMovement = 0x01;
ActImmediately.allotsOperation(height, modeOfMovement);
// {
//
// float height = 1.3f;
// byte modeOfMovement = 0x01;
// ActImmediately.allotsOperation(height, modeOfMovement);
// //读取动作执行状态
// ActImmediately.readActionState();
@@ -301,7 +301,7 @@ public class KCCommandDemo {
// ActImmediately.readActionState();
//
// ActImmediately.ACTION_EXECUTE_STATE = false;
}
// }
// {
// ActImmediately.reset();
@@ -592,7 +592,7 @@ public class KCCommandDemo {
public static AgvEvent manualLocation() {
AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ROBOT_SET_POSITION);
RobotSetPosition robotSetPosition = new RobotSetPosition(11, 11, 11);
RobotSetPosition robotSetPosition = new RobotSetPosition(3, 2, 1);
byte[] bytes = robotSetPosition.toBytes();
agvEvent.setBody(bytes);
return agvEvent;

2
opentcs-common/src/main/java/org/opentcs/kc/udp/Service/HybridNavigation.java
View File

@@ -49,7 +49,7 @@ public class HybridNavigation
/**
* 订单映射最大订单ID.
*/
private static int currentMaxiOrderId = 50;
private static int currentMaxiOrderId = 0;
/**

205
opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java Normal file
View File

@@ -0,0 +1,205 @@
package org.opentcs.manage;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import java.util.Date;
import java.util.HashMap;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import org.opentcs.common.GuestUserCredentials;
import org.opentcs.manage.entity.AgvInfo;
import org.opentcs.manage.entity.AgvInfoParams;
import org.opentcs.manage.entity.AgvStatus;
import org.opentcs.util.KernelCommunication;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
*/
public class AdapterManage {
/**
* LOG
*/
private static final Logger LOG = LoggerFactory.getLogger(AdapterManage.class);
/**
* 创建调度线程池（单线程）
*/
private static final ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
/**
* Kernel服务对象
*/
private static KernelCommunication kernel;
/**
* 记录对应通讯适配器数据
* 基于线程安全HASHMAP
*/
private static final ConcurrentHashMap<String, AgvStatus> adapterStatusMap = new ConcurrentHashMap<>();
/**
* 设置自动关闭适配器时间阈值，单位：毫秒
*/
private 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
*/
private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
//开启通讯信息
private static final String USER = GuestUserCredentials.USER;
private static final String PASSWORD = GuestUserCredentials.PASSWORD;
private static final String IP = GuestUserCredentials.IP;
private static final Integer PORT = GuestUserCredentials.PORT;
//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 = () -> {
kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);
autoManageAdapterStatus();
updateAdapterVehicleModel();
kernel.logout();
};
/**
* 自动管理通讯适配器
*/
private void autoManageAdapterStatus() {
Date date = new Date();
long currentTime = date.getTime();
adapterStatusMap.forEach((key, value) -> {
Long time = value.getTime();
AgvStatus agvStatus = new AgvStatus();
agvStatus.setTime(value.getTime());
agvStatus.setActionStatus(value.getActionStatus());
if (currentTime - time > AUTO_CLOSE_TIME) {
agvStatus.setStatus(AdapterStatus.DISABLE);
} else {
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);
});
}
/**
* 更新适配器车辆模型
*/
private void updateAdapterVehicleModel() {
adapterDataMap.forEach((key, value) -> {
kernel.sendToAdapter(key, value);
adapterDataMap.remove(key);
});
}
/**
* 更新通讯适配器状态
* @param name 车辆名称
*/
public static void setAdapterStatus(String name) {
Date date = new Date();
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());
} else {
//未记录，初始化
newAgvStatus.setTime(time);
newAgvStatus.setStatus(AdapterStatus.DISABLE);
}
adapterStatusMap.put(name, newAgvStatus);
}
/**
* 设置动作完成状态
* @param name 车辆名称
*/
public static void setActionStatus(String name) {
AgvStatus agvStatus = adapterStatusMap.get(name);
agvStatus.setActionStatus(true);
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) {
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"));
agvInfo.setType(jsonObject.getInteger("type"));
agvInfo.setSerial_num(jsonObject.getInteger("serial_num"));
agvInfo.setTime(jsonObject.getString("time"));
agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));
adapterDataMap.put(name, agvInfo);
}
private static AgvInfoParams getAgvInfoParams(String paramsStr) {
JSONObject params = JSON.parseObject(paramsStr);
AgvInfoParams agvInfoParams = new AgvInfoParams();
agvInfoParams.setX(params.getFloat("x"));
agvInfoParams.setY(params.getFloat("y"));
agvInfoParams.setAngle(params.getFloat("angle"));
agvInfoParams.setPoint(params.getInteger("point"));
agvInfoParams.setPower(params.getFloat("power"));
agvInfoParams.setError(params.getString("error"));
agvInfoParams.setError_level(params.getInteger("error_level"));
agvInfoParams.setCargo_status(params.getInteger("cargo_status"));
agvInfoParams.setAgv_status(params.getInteger("agv_status"));
agvInfoParams.setAgv_model(params.getInteger("agv_model"));
agvInfoParams.setCharge_status(params.getInteger("charge_status"));
agvInfoParams.setAction_status(params.getInteger("action_status"));
return agvInfoParams;
}
/**
* 状态管理
*/
public interface AdapterStatus {
Boolean ENABLE = true;
Boolean DISABLE = false;
}
}

36
opentcs-common/src/main/java/org/opentcs/manage/entity/AgvInfo.java Normal file
View File

@@ -0,0 +1,36 @@
package org.opentcs.manage.entity;
import lombok.Data;
@Data
public class AgvInfo {
/**
* 发送方
*/
private String sender;
/**
* 接收
*/
private String receiver;
/**
* 消息类型
*/
private Integer type;
/**
* 序列号
*/
private Integer serial_num;
/**
* 车辆名称
*/
private String vehicle_name;
/**
* 时间
*/
private String time;
/**
* 详细数据
*/
private AgvInfoParams params;
}

55
opentcs-common/src/main/java/org/opentcs/manage/entity/AgvInfoParams.java Normal file
View File

@@ -0,0 +1,55 @@
package org.opentcs.manage.entity;
import lombok.Data;
@Data
public class AgvInfoParams {
/**
* X坐标
*/
private Float x;
/**
* Y坐标
*/
private Float y;
/**
* 角度
*/
private Float angle;
/**
* 最终经过点
*/
private Integer point;
/**
* 电池电量
*/
private float power;
/**
* 异常信息
*/
private String error;
/**
* 异常等级：信息 = 0x00；警告 = 0x01；错误 = 0x02；
*/
private Integer error_level;
/**
* agv状态：空闲 = 0，运行 = 1，暂停 = 2，初始化中= 3，无法执行任务，时的状态，如（开机后无位置、下，载地图中、程序初始化中等情况），人工确认 = 4，未初始化=5，（未设置能力集）
*/
private Integer agv_status;
/**
* 载货状态：0=无货物，1=有货物
*/
private Integer cargo_status;
/**
* 工作模式：待机 = 0，手动 = 1，半自动 = 2，自动 = 3，示教 = 4，服务 = 5（升级程序中的工作，状态），维修 = 6
*/
private Integer agv_model;
/**
* 充电情况：放电=0，充电=1
*/
private Integer charge_status;
/**
* 执行动作状态：1=完成，2=执行中
*/
private Integer action_status;
}

21
opentcs-common/src/main/java/org/opentcs/manage/entity/AgvStatus.java Normal file
View File

@@ -0,0 +1,21 @@
package org.opentcs.manage.entity;
import lombok.Data;
@Data
public class AgvStatus {
/**
* 更新时间
*/
private Long time;
/**
* 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;
}

22
opentcs-common/src/main/java/org/opentcs/park/ParkStrategy.java Normal file
View File

@@ -0,0 +1,22 @@
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<>();
public static void setPark(Park park) {
AllPark.add(park);
printPark();
}
private static void printPark() {
for (Park park : AllPark) {
System.out.println("print park:" + park.getName() + ", status:" + park.getStatus());
}
}
}

17
opentcs-common/src/main/java/org/opentcs/park/entity/Park.java Normal file
View File

@@ -0,0 +1,17 @@
package org.opentcs.park.entity;
import lombok.Data;
@Data
public class Park {
/**
* 休息点名称
*/
private String name;
/**
* 休息点状态: true=已被占用， false=空闲
*/
private Boolean status;
}

78
opentcs-common/src/main/java/org/opentcs/traffic/TrafficControl.java Normal file
View File

@@ -0,0 +1,78 @@
package org.opentcs.traffic;
import org.opentcs.traffic.common.AvoidanceAlgorithm;
import org.opentcs.traffic.common.ContourAlgorithm;
import org.opentcs.traffic.common.ResourceLock;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
* @Date 2025-5-12
* @description 交管策略实现类
*/
public class TrafficControl {
/**
* 日志
*/
private static final Logger LOG = LoggerFactory.getLogger(TrafficControl.class);
/**
* 已占用资源对象
*/
private static final ResourceLock resourceLock = new ResourceLock();
/**
* 轮廓算法
*/
private static final ContourAlgorithm contourAlgorithm = new ContourAlgorithm();
/**
* 交管避让权重算法
*/
private static final AvoidanceAlgorithm avoidanceAlgorithm = new AvoidanceAlgorithm();
/**
* 交通管制策略
* @param vehiclePosition 车辆当前位置
* @param finalOccupiedPosition 车辆最终占用点位
* @param resource 资源
* @param type 类型
* @return 是否可执行
*/
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);
if (!lockStatus) {
LOG.debug("trafficControlStrategy Failed to lock resource: {} type: {}", resource, type);
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();
if (!contourStatus) {
LOG.debug("trafficControlStrategy Contour algorithm failed: resource: {} type: {}", resource, type);
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();
if (!avoidanceStatus) {
LOG.debug("trafficControlStrategy Avoidance algorithm failed: resource: {} type: {}", resource, type);
return false;
}
//有所有校验通过，返回true
return true;
}
/**
* 步骤执行结束，释放对应资源
* @param resource 资源
* @param type 类型
*/
public static void trafficControlRelease(String resource, String type) {
resourceLock.trafficControlRelease(resource, type);
}
}

21
opentcs-common/src/main/java/org/opentcs/traffic/common/AvoidanceAlgorithm.java Normal file
View File

@@ -0,0 +1,21 @@
package org.opentcs.traffic.common;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
public class AvoidanceAlgorithm {
private static final Logger LOG = LoggerFactory.getLogger(AvoidanceAlgorithm.class);
/**
* 思路：判断当前车辆是否和其他车辆路径有重叠
*
* @return true: 订单避让算法通过，false: 订单避让算法不通过
*/
public boolean weightCalculation() {
return true;
}
}

38
opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java Normal file
View File

@@ -0,0 +1,38 @@
package org.opentcs.traffic.common;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
* @date 2025/5/12
* @desc 轮廓算法
*/
public class ContourAlgorithm {
private static final Logger LOG = LoggerFactory.getLogger(ContourAlgorithm.class);
/**
* 多车轮廓干扰检测
*
* desc：当前车辆需要占用的下一个点位的x、y坐标。在点位坐标根据车辆长、宽计算车辆轮廓，
* 通过上报获取所有车辆的x，y坐标，计算轮廓,
* 最终通过剩余车辆的x、y坐标，判断是否与当前车辆轮廓重叠，重叠则不通过，否则通过。
*
* 使用算法时间节点：
* 1.车辆运行中，每次递归都进行判断？------（运行效率可能会低，当车辆数量上升时服务器性能有要求）车辆运行中指定时间间隔后执行轮廓检测。
* 优化方案：1：为减小压力，应该在车辆连接时计算车辆轮廓，，，，可行性：低。考虑：车辆轮廓不是根据实时坐标计算，是否有算法可以将车辆轮廓移到当前坐标上。会不会有误差？？？
* 2：递归时间节点层面延长线程阻塞时间方法，，，可行性：高。
* 待验证：算法实现？算法效率问题？
* 2.车辆下发运动指令前检测？-------（运行效率高）下发前检测，车辆运动中无轮廓检测。可能会发生？当前车辆不知道其他车辆位置，可能会撞车。--------放弃，会有撞车风险
*
* @return true,可通过，false，不通过
*/
public boolean interferenceDetection() {
//
return true;
}
}

203
opentcs-common/src/main/java/org/opentcs/traffic/common/ResourceLock.java Normal file
View File

@@ -0,0 +1,203 @@
package org.opentcs.traffic.common;
import java.util.concurrent.ConcurrentSkipListSet;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author xuzhiheng
* @date 2025/5/12
* @desc 公共资源锁，保证线程安全
*/
public class ResourceLock {
private static final Logger LOG = LoggerFactory.getLogger(ResourceLock.class);
/**
* 静态内部类，用于封装有序的线程安全集合（基于红黑树）.
* 已锁定资源集合.
*/
public static class DeclaredResource {
/**
* 点资源集合
*/
public static final ConcurrentSkipListSet<String> points = new ConcurrentSkipListSet<>();
/**
* 路线资源集合
*/
public static final ConcurrentSkipListSet<String> paths = new ConcurrentSkipListSet<>();
/**
* 库位资源集合
*/
public static final ConcurrentSkipListSet<String> locations = new ConcurrentSkipListSet<>();
/**
* 检查对应对象是否包含某个字符串（区分大小写）
* @param target 目标
* @param type 类型
* @return bool
*/
public static boolean checkContains(String target, String type) {
if (target == null) {
LOG.debug("Error checkContains: Cannot check for null.");
throw new RuntimeException("Error checkContains: Cannot check for null.");
}
LOG.info("checkContains: {} {}", target, type);
return switch (type) {
case ResourceTypeConstants.POINT -> points.contains(target);
case ResourceTypeConstants.PATH -> paths.contains(target);
case ResourceTypeConstants.LOCATION -> locations.contains(target);
default -> {
LOG.debug("checkContains Invalid resource type.");
throw new RuntimeException("Error checkContains: Cannot check for null.");
// yield false; //可能不需要抛出错误，根据具体情况修改
}
};
}
/**
* 添加资源占用
* @param target 目标
* @param type 类型
*/
public static boolean resourceAdd(String target, String type) {
if (target == null) {
LOG.debug("Error resourceAdd: Cannot add for null.");
throw new RuntimeException("Error resourceAdd: Cannot add for null.");
}
LOG.info("resourceAdd: {} {}", target, type);
return switch (type) {
case ResourceTypeConstants.POINT -> points.add(target);
case ResourceTypeConstants.PATH -> paths.add(target);
case ResourceTypeConstants.LOCATION -> locations.add(target);
default -> {
LOG.debug("resourceAdd Invalid resource type.");
throw new RuntimeException("resourceAdd Invalid resource type.");
// yield false; //可能不需要抛出错误，根据具体情况修改
}
};
}
/**
* 释放资源占用
* @param target 目标
* @param type 类型
*/
public static boolean resourceRemove(String target, String type) {
if (target == null) {
LOG.debug("Error resourceRemove: Cannot remove for null.");
throw new RuntimeException("Error resourceRemove: Cannot remove for null.");
}
LOG.info("resourceRemove: {} {}", target, type);
return switch (type) {
case ResourceTypeConstants.POINT -> points.remove(target);
case ResourceTypeConstants.PATH -> paths.remove(target);
case ResourceTypeConstants.LOCATION -> locations.remove(target);
default -> {
LOG.debug("resourceRemove Invalid resource type.");
throw new RuntimeException("resourceRemove Invalid resource type.");
// yield false; //可能不需要抛出错误，根据具体情况修改
}
};
}
}
/**
* 占用交管资源
* @param vehiclePosition 车辆当前位置
* @param finalOccupiedPosition 车辆最终占用资源位置
* @param resource 资源
* @param type 类型
*/
public boolean trafficControlOccupy(String vehiclePosition, String finalOccupiedPosition, String resource, String type) {
//交管过程判断为：
//获取资源占用情况
while (true) {
boolean lockStatus = DeclaredResource.checkContains(resource, type);
if (!lockStatus) {
//设置AGV状态为执行中
break;
}
//资源已被占用
try {
//如果车辆到达最后站用电位，下一个点位未解锁。修改AGV状态为交管中
if (!finalOccupiedPosition.equals("0") && vehiclePosition.equals(finalOccupiedPosition)) {
//设置AGV状态为交管中（需要考虑，车辆初始化时，位置占用问题）
}
//进入线程阻塞500ms
Thread.sleep(500);
} catch (Exception e) {
Thread.currentThread().interrupt();
}
}
boolean addStatus = DeclaredResource.resourceAdd(resource, type);
if (addStatus) {
LOG.info("trafficControlInit Successfully add resource: {} type: {}", resource, type);
return true;
} else {
LOG.debug("trafficControlInit Failed to add resource: {} type: {}", resource, type);
return false;
}
}
/**
* 释放资源占用（使用节点：手自动切换，车辆重启，调度断开车辆）
* @param resource 资源
* @param type 类型
*/
public void trafficControlRelease(String resource, String type) {
boolean releaseStatus = DeclaredResource.resourceRemove(resource, type);
if (!releaseStatus) {
LOG.debug("trafficControlRelease Failed to release resource: {} type: {}", resource, type);
throw new RuntimeException("trafficControlRelease Failed to release resource: " + resource + " type: " + type);
}
}
//测试示例
public static void main(String[] args) {
// 测试线程安全的动态维护
Runnable task = () -> {
DeclaredResource.points.add("point_" + Thread.currentThread().getName());
DeclaredResource.paths.add("path_" + Thread.currentThread().getName());
DeclaredResource.locations.add("Location_" + Thread.currentThread().getName());
};
// 启动多个线程验证线程安全性
Thread t1 = new Thread(task);
Thread t2 = new Thread(task);
t1.start();
t2.start();
// 等待线程执行完毕
try {
t1.join();
t2.join();
} catch (InterruptedException e) {
e.printStackTrace();
}
// 输出结果
System.out.println("Points: " + DeclaredResource.points);
System.out.println("Paths: " + DeclaredResource.paths);
System.out.println("Locations: " + DeclaredResource.locations);
}
}

25
opentcs-common/src/main/java/org/opentcs/traffic/common/ResourceTypeConstants.java Normal file
View File

@@ -0,0 +1,25 @@
package org.opentcs.traffic.common;
/**
* @author xuzhiheng
* @date 2025-5-12
* @description 资源类型常量
*/
public interface ResourceTypeConstants {
/**
* 点
*/
String POINT = "POINT";
/**
* 路线
*/
String PATH = "PATH";
/**
* 库位
*/
String LOCATION = "LOCATION";
}

40
opentcs-common/src/main/java/org/opentcs/util/KernelCommunication.java Normal file
View File

@@ -0,0 +1,40 @@
package org.opentcs.util;
import org.opentcs.access.KernelServicePortal;
import org.opentcs.access.rmi.KernelServicePortalBuilder;
import org.opentcs.components.kernel.services.VehicleService;
import org.opentcs.data.ObjectUnknownException;
import org.opentcs.data.model.Vehicle;
/**
* @author xuzhiheng
*/
public class KernelCommunication {
private static KernelServicePortal servicePortal;
public KernelCommunication(String USER, String PASSWORD, String IP, Integer PORT) {
servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
servicePortal.login(IP, PORT);
}
public void logout() {
servicePortal.logout();
}
/**
* 通讯适配器通讯
* @param name 车辆名称
* @param message 数据
*/
public void sendToAdapter(String name, Object message) {
VehicleService vehicleService = servicePortal.getVehicleService();
Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
if (vehicle == null) {
throw new ObjectUnknownException("sendToAdapter Unknown vehicle: " + name);
}
vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
}
}

28
opentcs-common/src/main/resources/mqtt.conf Normal file
View File

@@ -0,0 +1,28 @@
# Moquette 配置文件
# 监听端口
port 1883
# 使用WebSocket的端口（可选）
# websocket_port 8080
# 主机地址
host 0.0.0.0
# 持久化存储设置
persistent_store true
# 存储路径（如果使用持久化）
# store_file moquette_store.mapdb
# SSL配置（可选）
# ssl_port 8883
# jks_path serverkeystore.jks
# key_store_password passw0rd
# key_manager_password passw0rd
# 允许匿名登录（true表示允许，false表示需要用户名密码）
allow_anonymous true
# 如果允许匿名登录为false，则需要配置认证文件
# password_file password_file.conf
# 其他配置...

20
opentcs-common/src/test/java/org/opentcs/common/SameThreadExecutorServiceTest.java
View File

@@ -20,6 +20,10 @@ import org.opentcs.access.KernelServicePortal;
import org.opentcs.access.rmi.KernelServicePortalBuilder;
import org.opentcs.components.kernel.services.PlantModelService;
import org.opentcs.components.kernel.services.VehicleService;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.data.model.Location;
import org.opentcs.data.model.LocationType;
import org.opentcs.data.model.PlantModel;
import org.opentcs.data.model.Vehicle;
/**
@@ -128,4 +132,20 @@ class SameThreadExecutorServiceTest {
}
@Test
void getLocation() {
KernelServicePortal servicePortal = new KernelServicePortalBuilder(GuestUserCredentials.USER, GuestUserCredentials.PASSWORD).build();
servicePortal.login(GuestUserCredentials.IP, GuestUserCredentials.PORT);
PlantModel plantModel = servicePortal.getPlantModelService().getPlantModel();
Set<Location> locations = plantModel.getLocations();
for (Location location : locations) {
TCSObjectReference<LocationType> type = location.getType();
String typeName = type.getName();
//location类型为充电桩，记录当前location到充电桩集合中
System.out.println("LOCATION NAME: " + location.getName() + ", TYPE NAME: " + typeName);
}
servicePortal.logout();
}
}