update

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<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 {

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 {

opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java

@@ -41,10 +41,6 @@ public class ContourAlgorithm {
     };
 
 
-//    new BezierCurve()
-
-
-
     return true;
   }
 

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

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);
       }
     }