From 7ac42a2b80c850307cb9df1c1b0d918b349e7843 Mon Sep 17 00:00:00 2001 From: xuzhiheng <2543137953@qq.com> Date: Wed, 18 Jun 2025 10:35:01 +0800 Subject: [PATCH] update --- .../LoopbackCommunicationAdapter.java | 22 ------------------- opentcs-common/build.gradle | 2 ++ .../traffic/common/ContourAlgorithm.java | 4 ---- .../servicewebapi/v1/VehicleHandler.java | 12 ++++++++++ .../vehicles/DefaultVehicleController.java | 3 +++ 5 files changed, 17 insertions(+), 26 deletions(-) diff --git a/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java b/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java index 4588c56..a923801 100644 --- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java +++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java @@ -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>> allocatedResources = newVehicle.getAllocatedResources(); - - //使用副本更新车辆模型，防止异常情况 - List>> 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> resource = new HashSet<>(); - resource.add(point.getReference()); - copiedResources.add(resource); - } - if (step.getPath() != null) { - Path path = objectService.fetchObject(Path.class, step.getPath().getName()); - Set> resource = new HashSet<>(); - resource.add(path.getReference()); - copiedResources.add(resource); - } - newVehicle.withAllocatedResources(copiedResources); - if (step.getPath() == null) { actionExec(command); } else { diff --git a/opentcs-common/build.gradle b/opentcs-common/build.gradle index 1f9c0b8..f64821b 100644 --- a/opentcs-common/build.gradle +++ b/opentcs-common/build.gradle @@ -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 { diff --git a/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java b/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java index e81077b..843c713 100644 --- a/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java +++ b/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java @@ -41,10 +41,6 @@ public class ContourAlgorithm { }; -// new BezierCurve() - - - return true; } diff --git a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java index c36e908..c554f95 100644 --- a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java +++ b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java @@ -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 diff --git a/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java b/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java index 2df4348..3da86bb 100644 --- a/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java +++ b/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java @@ -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); } }