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充电测试

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xuzhiheng 2025-07-22 13:44:50 +08:00
parent 3553cb17ec
commit 8170db9822
2 changed files with 15 additions and 10 deletions
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23
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
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@ -167,7 +167,9 @@ public class LoopbackCommunicationAdapter
private final DispatcherService dispatcherService; private final DispatcherService dispatcherService;
//标记是否开启自动回休息点：true=开启，false=关闭 //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 //连接状态
private final Boolean CONNECT_STATUS = true; 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 //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(); super.initialize();
if (IS_AUTOMATIC_BREAKS) { // 注册属性变化监听器
// 注册属性变化监听器 getProcessModel().addPropertyChangeListener(evt -> {
getProcessModel().addPropertyChangeListener(evt -> { if (IS_AUTOMATIC_CHARGER) {
if (evt.getPropertyName().equals(VehicleProcessModel.Attribute.ENERGY_LEVEL.name())) { if (evt.getPropertyName().equals(VehicleProcessModel.Attribute.ENERGY_LEVEL.name())) {
LOG.info("Vehicle energy level changed to: {}", evt.getNewValue()); LOG.info("Vehicle energy level changed to: {}", evt.getNewValue());
checkChargingNeed(); 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()) { if (getSentCommands().isEmpty() && getUnsentCommands().isEmpty()) {
LOG.debug("All commands executed, checking for parking position..."); LOG.debug("All commands executed, checking for parking position...");
LOG.info("Found parking positions: {}", findAllParkingPositions().stream() LOG.info("Found parking positions: {}", findAllParkingPositions().stream()
@ -240,8 +245,8 @@ public class LoopbackCommunicationAdapter
.collect(Collectors.joining(", "))); .collect(Collectors.joining(", ")));
checkAndMoveToParkingPosition(); checkAndMoveToParkingPosition();
} }
}); }
} });
String initialPos String initialPos
= vehicle.getProperties().get(LoopbackAdapterConstants.PROPKEY_INITIAL_POSITION); = 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 // ֻ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 && if (processModel.getState() == Vehicle.State.IDLE &&
processModel.getState() != Vehicle.State.CHARGING && processModel.getState() != Vehicle.State.CHARGING &&
getSentCommands().isEmpty()) { getUnsentCommands().isEmpty()) {
if (chargingStrategyManager.needToCharge(processModel)) { if (chargingStrategyManager.needToCharge(processModel)) {
LOG.info("Charging strategy {} triggered, starting charging process", 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 // 创建前往充电位置的运输订单
createChargingTransportOrder(chargingLocation.get()); createChargingTransportOrder(chargingLocation.get());
} else { } 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");
} }
} }

2
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/chargingstrategy/ChargingStrategyManager.java
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@ -15,7 +15,7 @@ public class ChargingStrategyManager {
public ChargingStrategyManager() { public ChargingStrategyManager() {
// 初始化支持的充电策略 // 初始化支持的充电策略
strategies = Arrays.asList( strategies = Arrays.asList(
new ThresholdChargingStrategy(60, 95) new ThresholdChargingStrategy(70, 95)
); );
// 默认使用阈值充电策略 // 默认使用阈值充电策略
currentStrategy = strategies.get(0); currentStrategy = strategies.get(0);