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xuzhiheng 2025-06-18 10:35:01 +08:00
parent 952d0db0d1
commit 7ac42a2b80
5 changed files with 17 additions and 26 deletions
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22
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
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@ -439,28 +439,6 @@ public class LoopbackCommunicationAdapter
getProcessModel().setState(Vehicle.State.EXECUTING);
Step step = command.getStep();
Vehicle newVehicle = vehicleService.fetchObject(Vehicle.class, getProcessModel().getName());
List<Set<TCSResourceReference<?>>> allocatedResources = newVehicle.getAllocatedResources();
//使用副本更新车辆模型，防止异常情况
List<Set<TCSResourceReference<?>>> copiedResources = new ArrayList<>(allocatedResources);
copiedResources.clear();
if (step.getSourcePoint() != null) {
//下发起点不为空
Point point = objectService.fetchObject(Point.class, step.getSourcePoint().getName());
Set<TCSResourceReference<?>> resource = new HashSet<>();
resource.add(point.getReference());
copiedResources.add(resource);
}
if (step.getPath() != null) {
Path path = objectService.fetchObject(Path.class, step.getPath().getName());
Set<TCSResourceReference<?>> resource = new HashSet<>();
resource.add(path.getReference());
copiedResources.add(resource);
}
newVehicle.withAllocatedResources(copiedResources);
if (step.getPath() == null) {
actionExec(command);
} else {

2
opentcs-common/build.gradle
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@ -35,6 +35,8 @@ dependencies {
implementation 'org.eclipse.paho:org.eclipse.paho.client.mqttv3:1.2.5'
//JTS
implementation 'org.locationtech.jts:jts-core:1.18.2'
// https://mvnrepository.com/artifact/org.locationtech.jts.io/jts-io-common
// implementation("org.locationtech.jts.io:jts-io-common:1.20.0")
}
processResources.doLast {

4
opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java
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@ -41,10 +41,6 @@ public class ContourAlgorithm {
};
// new BezierCurve()
return true;
}

12
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java
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@ -86,6 +86,18 @@ public class VehicleHandler {
throw new ObjectUnknownException("postReceiveCallback Unknown vehicle: " + name);
}
// String adapterName = "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterDescription";
// VehicleCommAdapterDescription newAdapter
// = vehicleService.fetchAttachmentInformation(vehicle.getReference())
// .getAvailableCommAdapters()
// .stream()
// .filter(description -> description.getClass().getName().equals(adapterName))
// .findAny()
// .orElseThrow(
// () -> new IllegalArgumentException("Unknown vehicle driver class name: " + adapterName)
// );
// vehicleService.attachCommAdapter(vehicle.getReference(), newAdapter);
//将数据更新到线程安全的集合中，防止线程阻塞
AdapterManage.setAdapterStatus(name);
if (type == 1) { //上报agv详细信息

3
opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java
View File

@ -849,6 +849,7 @@ public class DefaultVehicleController
);
if (Objects.equals(evt.getPropertyName(), VehicleProcessModel.Attribute.POSITION.name())) {
System.out.println("Position changed updateVehiclePosition");
updateVehiclePosition((String) evt.getNewValue());
}
else if (Objects.equals(
@ -1002,9 +1003,11 @@ public class DefaultVehicleController
vehicle.getName(),
point
);
System.out.println("update position updatePositionWithoutOrder 999999");
updatePositionWithoutOrder(point);
}
else {
System.out.println("update position updatePositionWithOrder 0000");
updatePositionWithOrder(point);
}
}