update

opentcs-kernel/build.gradle

@@ -26,6 +26,8 @@ dependencies {
   implementation group: 'de.huxhorn.sulky', name: 'de.huxhorn.sulky.ulid', version: '8.3.0'
 
   runtimeOnly group: 'org.slf4j', name: 'slf4j-jdk14', version: '2.0.16'
+  //fastjson
+  implementation 'com.alibaba:fastjson:1.2.83'
 }
 
 distributions {
@@ -47,6 +49,14 @@ task release {
   dependsOn installDist
 }
 
+tasks.withType(JavaCompile){
+  options.encoding="utf-8"
+}
+
+tasks.withType(Javadoc){
+  options.encoding="utf-8"
+}
+
 run {
   systemProperties(['java.util.logging.config.file':'./config/logging.config',\
                     'opentcs.base':'.',\

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

@@ -7,6 +7,7 @@ import static java.util.Objects.requireNonNull;
 import com.google.common.util.concurrent.Uninterruptibles;
 import com.google.inject.Provider;
 import jakarta.inject.Inject;
+import java.io.IOException;
 import java.util.HashSet;
 import java.util.Map;
 import java.util.Set;
@@ -17,11 +18,13 @@ import org.opentcs.access.Kernel;
 import org.opentcs.access.Kernel.State;
 import org.opentcs.access.KernelStateTransitionEvent;
 import org.opentcs.access.LocalKernel;
+import org.opentcs.communication.mqtt.MqttBrokerServer;
 import org.opentcs.components.kernel.KernelExtension;
 import org.opentcs.components.kernel.services.NotificationService;
 import org.opentcs.customizations.ApplicationEventBus;
 import org.opentcs.customizations.kernel.KernelExecutor;
 import org.opentcs.data.notification.UserNotification;
+import org.opentcs.manage.AdapterManage;
 import org.opentcs.util.event.EventBus;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -70,6 +73,14 @@ public class StandardKernel
    * The kernel implementing the actual functionality for the current mode.
    */
   private KernelState kernelState;
+  /**
+   * MQTT 服务
+   */
+  private MqttBrokerServer mqttBrokerServer = new MqttBrokerServer();
+  /**
+   * 通讯适配器管理类
+   */
+  private AdapterManage adapterManage = new AdapterManage();
 
   /**
    * Creates a new kernel.
@@ -108,6 +119,13 @@ public class StandardKernel
     // Initial state is modelling.
     setState(State.MODELLING);
 
+    //开启MQTT服务
+//    mqttBrokerServer.startMqtt();
+
+    //开启通讯适配器自动管理
+    adapterManage.START();
+    LOG.info("Communication adapter auto management started successfully");
+
     initialized = true;
     LOG.debug("Starting kernel thread");
     Thread kernelThread = new Thread(this, "kernelThread");
@@ -127,6 +145,13 @@ public class StandardKernel
     // Note that the actual shutdown of extensions should happen when the kernel
     // thread (see run()) finishes, not here.
     // Set the terminated flag and wake up this kernel's thread for termination.
+
+    //关闭MQTT服务
+//    mqttBrokerServer.stopMqtt();
+
+    //关闭通讯适配器管理类
+    adapterManage.STOP();
+
     initialized = false;
     terminationSemaphore.release();
   }

opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/PlantModelManager.java

@@ -51,6 +51,8 @@ import org.opentcs.data.order.TransportOrder;
 import org.opentcs.data.peripherals.PeripheralJob;
 import org.opentcs.data.peripherals.PeripheralOperation;
 import org.opentcs.drivers.vehicle.LoadHandlingDevice;
+import org.opentcs.park.ParkStrategy;
+import org.opentcs.park.entity.Park;
 import org.opentcs.util.event.EventHandler;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -1383,6 +1385,14 @@ public class PlantModelManager
   private Point createPoint(PointCreationTO to)
       throws ObjectExistsException {
     // Get a unique ID for the new point and create an instance.
+    if (to.getType() == Point.Type.PARK_POSITION) {
+      //是休息点，记录
+      Park park = new Park();
+      park.setName(to.getName());
+      park.setStatus(false);
+      ParkStrategy.setPark(park);
+    }
+
     Point newPoint = new Point(to.getName())
         .withPose(new Pose(to.getPose().getPosition(), to.getPose().getOrientationAngle()))
         .withType(to.getType())
@@ -1500,6 +1510,7 @@ public class PlantModelManager
       throws ObjectUnknownException,
         ObjectExistsException {
     LocationType type = getObjectRepo().getObject(LocationType.class, to.getTypeName());
+    System.out.println("test print location:" + to.getName() + ", type:" +  type.getName());
     Location newLocation = new Location(to.getName(), type.getReference())
         .withPosition(to.getPosition())
         .withLocked(to.isLocked())