update

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

@@ -32,6 +32,7 @@ import org.opentcs.kernel.extensions.servicewebapi.KernelExecutorWrapper;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetOrderSequenceResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetTransportOrderResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostOrderSequenceRequestTO;
+import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderInfoRequestTo;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderRequestTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.posttransportorder.Destination;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.shared.Property;
@@ -59,6 +60,52 @@ public class TransportOrderHandler {
     this.executorWrapper = requireNonNull(executorWrapper, "executorWrapper");
   }
 
+  /**
+   * 根据WMS任务创建订单序列和运输订单
+   * @param sequenceName 序列名称
+   * @param vehicleName 车辆名称
+   * @param type 订单类型
+   * @param destinations 位置信息
+   * @return 创建的订单
+   */
+  public List<TransportOrder> createWmsTask(String sequenceName, String vehicleName, String type, List<PostTransportOrderInfoRequestTo> destinations){
+
+    //构建订单序列对象
+    PostOrderSequenceRequestTO postOrderSequenceRequestTO = new PostOrderSequenceRequestTO();
+    postOrderSequenceRequestTO.setIncompleteName(false);
+    postOrderSequenceRequestTO.setType(type);
+    postOrderSequenceRequestTO.setIntendedVehicle(vehicleName);
+    postOrderSequenceRequestTO.setFailureFatal(true);
+    //根据传入name，创建订单序列
+    this.createOrderSequence(sequenceName, postOrderSequenceRequestTO);
+
+    //构建订单对象
+    PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
+    postTransportOrderRequestTO.setIncompleteName(true);
+    postTransportOrderRequestTO.setDispensable(false);
+    postTransportOrderRequestTO.setDeadline(Instant.now());
+    postTransportOrderRequestTO.setIntendedVehicle(vehicleName);
+//    postTransportOrderRequestTO.setPeripheralReservationToken("");
+    postTransportOrderRequestTO.setWrappingSequence(sequenceName);
+    postTransportOrderRequestTO.setType(type);
+
+    List<TransportOrder> orders = new ArrayList<>();
+
+    //根据传入点位创建订单
+    for (PostTransportOrderInfoRequestTo destination : destinations) {
+      List<Destination> destinationsList = new ArrayList<>();
+      Destination newDestination = new Destination();
+      newDestination.setLocationName(destination.getLocationName());
+      newDestination.setOperation(destination.getOperation());
+      destinationsList.add(newDestination);
+      postTransportOrderRequestTO.setDestinations(destinationsList);
+      TransportOrder order = this.createOrder("", postTransportOrderRequestTO);
+      orders.add(order);
+    }
+
+    return orders;
+  }
+
   public TransportOrder createOrder(String name, PostTransportOrderRequestTO order)
       throws ObjectUnknownException,
         ObjectExistsException,

opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java

@@ -4,6 +4,7 @@ package org.opentcs.kernel.extensions.servicewebapi.v1;
 
 import static java.util.Objects.requireNonNull;
 
+import com.alibaba.fastjson.JSON;
 import jakarta.inject.Inject;
 import java.util.List;
 import java.util.concurrent.ExecutionException;
@@ -16,13 +17,12 @@ import org.opentcs.kernel.extensions.servicewebapi.RequestHandler;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetOrderSequenceResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetPeripheralAttachmentInfoResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetPeripheralJobResponseTO;
-import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetTransportOrderResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetVehicleAttachmentInfoResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PlantModelTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostOrderSequenceRequestTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostPeripheralJobRequestTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTopologyUpdateRequestTO;
-import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderRequestTO;
+import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderInfoRequestTo;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesRequestTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleAllowedOrderTypesTO;
@@ -370,14 +370,44 @@ public class V1RequestHandler
         IllegalArgumentException,
         IllegalStateException {
     response.type(HttpConstants.CONTENT_TYPE_APPLICATION_JSON_UTF8);
+
+    //解析data
+    String type = JSON.parseObject(request.body()).getString("type");
+    String destinations = JSON.parseObject(request.body()).getString("destinations");
+    List<PostTransportOrderInfoRequestTo> dataList = JSON.parseArray(destinations, PostTransportOrderInfoRequestTo.class);
+
+    //获取路由成本最低的车辆
+    String executeVehicle = vehicleHandler.getExecuteVehicle(dataList.getFirst().getPoint(), dataList.getLast().getPoint());
+    System.out.println("handlePostTransportOrder: " + executeVehicle);
+
+    //定制逻辑
     return jsonBinder.toJson(
-        GetTransportOrderResponseTO.fromTransportOrder(
+        transportOrderHandler.createWmsTask(
-            transportOrderHandler.createOrder(
+            request.params(":NAME"),
-                request.params(":NAME"),
+            executeVehicle,
-                jsonBinder.fromJson(request.body(), PostTransportOrderRequestTO.class)
+            type,
-            )
+            dataList
         )
     );
+//    return jsonBinder.toJson(
+//        transportOrderHandler.getTransportOrders(
+//            transportOrderHandler.createWmsTask(
+//                request.params(":NAME"),
+//                executeVehicle,
+//                type,
+//                dataList
+//            )
+//        )
+//    );
+
+//    return jsonBinder.toJson(
+//        GetTransportOrderResponseTO.fromTransportOrder(
+//            transportOrderHandler.createOrder(
+//                request.params(":NAME"),
+//                jsonBinder.fromJson(request.body(), PostTransportOrderRequestTO.class)
+//            )
+//        )
+//    );
   }
 
   private Object handlePutTransportOrderIntendedVehicle(Request request, Response response)

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

@@ -28,6 +28,7 @@ import org.opentcs.data.model.Vehicle.EnergyLevelThresholdSet;
 import org.opentcs.data.order.Route;
 import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
 import org.opentcs.drivers.vehicle.management.VehicleAttachmentInformation;
+import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
 import org.opentcs.kernel.extensions.servicewebapi.KernelExecutorWrapper;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetVehicleResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesRequestTO;
@@ -111,6 +112,77 @@ public class VehicleHandler {
     }
   }
 
+  /**
+   * 获取执行成本最低车辆
+   * @param sourcePoint 起点
+   * @param destinationPoint 目标点
+   * @return 车辆名称
+   */
+  public String getExecuteVehicle(String sourcePoint, String destinationPoint) {
+
+//    System.out.println("sourcePoint: " + sourcePoint + " destinationPoint: " + destinationPoint);
+
+    //获取所有车辆
+    Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
+    //设置终点
+    List<String> destinationPointList = List.of(destinationPoint);
+    //记录最低路由成本
+    long costs = 0;
+    //返回的车辆名称
+    String vehicleName = null;
+
+    for (Vehicle vehicle : vehicles) {
+      VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
+      boolean commAdapterEnabled = vehicleProcessModelTO.isCommAdapterEnabled();
+
+      //校验车辆：通讯适配器、状态、集成级别  todo 可能需要改,无空闲车辆可能也要分配车辆
+      if (
+          !commAdapterEnabled ||
+          vehicle.getState() != Vehicle.State.IDLE ||
+          vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED
+      ) {
+        //车辆不能执行任务直接获取下台车辆
+        continue;
+      }
+
+      PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList);
+      postVehicleRoutesRequestTO.setSourcePoint(sourcePoint);
+      Map<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
+
+//      System.out.println("getExecuteVehicle vehicleRoutes: " + vehicleRoutes);
+
+      for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
+        TCSObjectReference<Point> key = entry.getKey();
+        Route value = entry.getValue();
+
+//        System.out.println("getExecuteVehicle point: " + key);
+//        System.out.println("getExecuteVehicle route: " + value);
+//        System.out.println("getExecuteVehicle route costs: " + value.getCosts());
+
+        //判断成本值是否合规(为空或小于0不合规)
+        if (value == null || value.getCosts() < 0) {
+          continue;
+        }
+
+        //比较成本，取成本低车辆名称
+        if (vehicleName == null || costs > value.getCosts()) {
+          //记录数据
+          costs = value.getCosts();
+          vehicleName = vehicle.getName();
+        }
+      }
+    }
+
+    if (vehicleName == null) {
+      throw new IllegalArgumentException("无可用车辆");
+//      throw new IllegalArgumentException("No vehicle available.");
+    }
+
+    //todo 无空闲车辆可能需要创建一个无车辆订单序列
+
+    return vehicleName;
+  }
+
   /**
    * Find all vehicles orders and filters depending on the given parameters.
    *

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

@@ -1,4 +1,43 @@
 package org.opentcs.kernel.extensions.servicewebapi.v1.binding;
 
 public class PostTransportOrderInfoRequestTo {
+
+  private String locationName;
+
+  private String point;
+
+  private String operation;
+
+  public String getLocationName() {
+    return locationName;
+  }
+
+  public void setLocationName(String locationName) {
+    this.locationName = locationName;
+  }
+
+  public String getPoint() {
+    return point;
+  }
+
+  public void setPoint(String point) {
+    this.point = point;
+  }
+
+  public String getOperation() {
+    return operation;
+  }
+
+  public void setOperation(String operation) {
+    this.operation = operation;
+  }
+
+  @Override
+  public String toString() {
+    return "PostTransportOrderInfoRequestTo{" +
+        "locationName='" + locationName + '\'' +
+        ", point='" + point + '\'' +
+        ", operation='" + operation + '\'' +
+        '}';
+  }
 }

opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java

@@ -1052,11 +1052,13 @@ public class DefaultVehicleController
         case LENGTH_RESPECTED:
           // Free resources allocated for executed commands, but keep as many as needed for the
           // vehicle's current length.
+          long vehicleLeghtRadius = 3700 / 2;   //车辆长度半径
+          BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox().withLength(vehicleLeghtRadius);  //长度有问题
           int freeableResourceSetCount
               = ResourceMath.freeableResourceSetCount(
                   SplitResources.from(allocatedResources, Set.of(currentVehiclePosition))
                       .getResourcesPassed(),
-                  commAdapter.getProcessModel().getBoundingBox().getLength()
+                  boundingBox.getLength()
               );
           for (int i = 0; i < freeableResourceSetCount; i++) {
             Set<TCSResource<?>> oldResources = allocatedResources.poll();