充电测试

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java

@@ -167,7 +167,9 @@ public class LoopbackCommunicationAdapter
   private final DispatcherService dispatcherService;
 
   //标记是否开启自动回休息点：true=开启，false=关闭
-  private final Boolean IS_AUTOMATIC_BREAKS = true;
+  private final Boolean IS_AUTOMATIC_CHARGER = true;
+  //标记是否开启自动充电：true=开启，false=关闭
+  private final Boolean IS_AUTOMATIC_BREAKS = false;
   //连接状态
   private final Boolean CONNECT_STATUS = true;
   //AGV模式:待机 = 0，手动 = 1，半自动 = 2，自动 = 3，示教 = 4，服务 = 5（升级程序中的工作，状态），维修 = 6
@@ -225,14 +227,17 @@ public class LoopbackCommunicationAdapter
     }
     super.initialize();
 
-    if (IS_AUTOMATIC_BREAKS) {
-      // 注册属性变化监听器
-      getProcessModel().addPropertyChangeListener(evt -> {
+    // 注册属性变化监听器
+    getProcessModel().addPropertyChangeListener(evt -> {
+      if (IS_AUTOMATIC_CHARGER) {
         if (evt.getPropertyName().equals(VehicleProcessModel.Attribute.ENERGY_LEVEL.name())) {
           LOG.info("Vehicle energy level changed to: {}", evt.getNewValue());
           checkChargingNeed();
         }
-        // 直接检查命令队列状态，不依赖特定属性名
+      }
+
+      // 直接检查命令队列状态，不依赖特定属性名
+      if (IS_AUTOMATIC_BREAKS) {
         if (getSentCommands().isEmpty() && getUnsentCommands().isEmpty()) {
           LOG.debug("All commands executed, checking for parking position...");
           LOG.info("Found parking positions: {}", findAllParkingPositions().stream()
@@ -240,8 +245,8 @@ public class LoopbackCommunicationAdapter
               .collect(Collectors.joining(", ")));
           checkAndMoveToParkingPosition();
         }
-      });
-    }
+      }
+    });
 
     String initialPos
         = vehicle.getProperties().get(LoopbackAdapterConstants.PROPKEY_INITIAL_POSITION);
@@ -1237,7 +1242,7 @@ public class LoopbackCommunicationAdapter
     // ֻ只有当车辆不在执行任务且不在充电状态时才检查充电需求
     if (processModel.getState() == Vehicle.State.IDLE &&
         processModel.getState() != Vehicle.State.CHARGING &&
-        getSentCommands().isEmpty()) {
+        getUnsentCommands().isEmpty()) {
 
       if (chargingStrategyManager.needToCharge(processModel)) {
         LOG.info("Charging strategy {} triggered, starting charging process",
@@ -1261,7 +1266,7 @@ public class LoopbackCommunicationAdapter
       // 创建前往充电位置的运输订单
       createChargingTransportOrder(chargingLocation.get());
     } else {
-      LOG.warn("No charging locations found, cannot start charging process");
+      LOG.warn("找不到充电位置，无法开始充电过程");
     }
   }
 

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/chargingstrategy/ChargingStrategyManager.java

@@ -15,7 +15,7 @@ public class ChargingStrategyManager {
   public ChargingStrategyManager() {
     // 初始化支持的充电策略
     strategies = Arrays.asList(
-        new ThresholdChargingStrategy(60, 95)
+        new ThresholdChargingStrategy(70, 95)
     );
     // 默认使用阈值充电策略
     currentStrategy = strategies.get(0);