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This commit is contained in:
xuzhiheng 2025-06-20 16:21:15 +08:00
parent 5bcba189ef
commit 9121b1985a
1 changed files with 8 additions and 3 deletions
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11
opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java
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@ -849,7 +849,6 @@ public class DefaultVehicleController
); );
if (Objects.equals(evt.getPropertyName(), VehicleProcessModel.Attribute.POSITION.name())) { if (Objects.equals(evt.getPropertyName(), VehicleProcessModel.Attribute.POSITION.name())) {
System.out.println("Position changed updateVehiclePosition");
updateVehiclePosition((String) evt.getNewValue()); updateVehiclePosition((String) evt.getNewValue());
} }
else if (Objects.equals( else if (Objects.equals(
@ -1003,11 +1002,9 @@ public class DefaultVehicleController
vehicle.getName(), vehicle.getName(),
point point
); );
System.out.println("update position updatePositionWithoutOrder 999999");
updatePositionWithoutOrder(point); updatePositionWithoutOrder(point);
} }
else { else {
System.out.println("update position updatePositionWithOrder 0000");
updatePositionWithOrder(point); updatePositionWithOrder(point);
} }
} }
@ -1035,6 +1032,14 @@ public class DefaultVehicleController
Point currentVehiclePosition = originalCommand.getStep().getDestinationPoint(); Point currentVehiclePosition = originalCommand.getStep().getDestinationPoint();
Deque<Set<TCSResource<?>>> allocatedResources Deque<Set<TCSResource<?>>> allocatedResources
= commandProcessingTracker.getAllocatedResources(); = commandProcessingTracker.getAllocatedResources();
// KernelApplicationConfiguration.VehicleResourceManagementType vehicleResourceManagementType
// = configuration.vehicleResourceManagementType();
// System.out.println("vehicleResourceManagementType: " + vehicleResourceManagementType);
//
// long length = commAdapter.getProcessModel().getBoundingBox().getLength();
// System.out.println("vehicle_length: " + length);
switch (configuration.vehicleResourceManagementType()) { switch (configuration.vehicleResourceManagementType()) {
case LENGTH_IGNORED: case LENGTH_IGNORED:
while (!allocatedResources.peek().contains(currentVehiclePosition)) { while (!allocatedResources.peek().contains(currentVehiclePosition)) {