update

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

@@ -5,10 +5,13 @@ import static java.util.Objects.requireNonNull;
 import com.google.inject.assistedinject.Assisted;
 import jakarta.inject.Inject;
 import java.beans.PropertyChangeEvent;
+import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.HashSet;
 import java.util.Iterator;
 import java.util.List;
 import java.util.Objects;
+import java.util.Set;
 import java.util.concurrent.ExecutorService;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
@@ -17,8 +20,15 @@ import org.opentcs.common.LoopbackAdapterConstants;
 import org.opentcs.communication.http.enums.Actions;
 import org.opentcs.communication.http.service.ExecuteAction;
 import org.opentcs.communication.http.service.ExecuteMove;
+import org.opentcs.communication.http.service.ExecuteOperation;
+import org.opentcs.components.kernel.services.TCSObjectService;
+import org.opentcs.components.kernel.services.VehicleService;
 import org.opentcs.customizations.kernel.KernelExecutor;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Path;
+import org.opentcs.data.model.Point;
 import org.opentcs.data.model.Pose;
+import org.opentcs.data.model.TCSResourceReference;
 import org.opentcs.data.model.Triple;
 import org.opentcs.data.model.Vehicle;
 import org.opentcs.data.order.Route.Step;
@@ -33,7 +43,6 @@ import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
 import org.opentcs.manage.entity.AgvActionStatus;
 import org.opentcs.manage.entity.AgvInfo;
 import org.opentcs.manage.entity.AgvInfoParams;
-import org.opentcs.manage.entity.AgvStatus;
 import org.opentcs.util.ExplainedBoolean;
 import org.opentcs.virtualvehicle.VelocityController.WayEntry;
 import org.slf4j.Logger;
@@ -108,9 +117,27 @@ public class LoopbackCommunicationAdapter
    */
   private static String CURRENT_POS;
   /**
-   * 订单任务key
+   * 订单任务key:记录当前订单执行的任务key
    */
-  private int TASK_KEY = 1;
+//  private int TASK_KEY;
+  /**
+   * 记录最后经过点
+   * 防止意外重启后，AGV控制器上报最终经过点为0无法执行任务
+   */
+  private String LAST_PASSED_POINT;
+  /**
+   * 记录车辆最后的姿态
+   * 防止车辆重启后，AGV控制器上报最终经过点为0无法进行交管
+   */
+  private Pose LAST_POSE;
+  /**
+   * 车辆服务对象
+   */
+  private final VehicleService vehicleService;
+  /**
+   *
+   */
+  private final TCSObjectService objectService;
 
   /**
    * Creates a new instance.
@@ -125,7 +152,9 @@ public class LoopbackCommunicationAdapter
       @Assisted
       Vehicle vehicle,
       @KernelExecutor
-      ScheduledExecutorService kernelExecutor
+      ScheduledExecutorService kernelExecutor,
+      TCSObjectService objectService, // 注入对象服务
+      VehicleService vehicleService
   ) {
     super(
         new LoopbackVehicleModel(vehicle),
@@ -135,6 +164,8 @@ public class LoopbackCommunicationAdapter
     );
     this.vehicle = requireNonNull(vehicle, "vehicle");
     this.configuration = requireNonNull(configuration, "configuration");
+    this.objectService = requireNonNull(objectService, "objectService");
+    this.vehicleService = requireNonNull(vehicleService, "vehicleService");
   }
 
   @Override
@@ -228,6 +259,15 @@ public class LoopbackCommunicationAdapter
     }
     LOG.info("Loopback comm adapter is being disable: {}", getName());
     super.disable();
+
+    //关闭连接后，更新车辆等级为不处理订单，但占用资源。
+    getProcessModel().integrationLevelChangeRequested(Vehicle.IntegrationLevel.TO_BE_RESPECTED);
+    if (LAST_PASSED_POINT != null) {
+      getProcessModel().setPosition(LAST_PASSED_POINT);
+    }
+    if (LAST_POSE != null) {
+      getProcessModel().setPose(LAST_POSE);
+    }
   }
 
   @Override
@@ -257,8 +297,8 @@ public class LoopbackCommunicationAdapter
       ORDER_NAME = cmd.getTransportOrder().getName();
       //下发起点
       CURRENT_POS = sourcePoint;
-      //当前执行taskKey
+//      //当前执行taskKey
-      TASK_KEY = 1;
+//      TASK_KEY = 1;
 
       // The command is added to the sent queue after this method returns. Therefore
       // we have to explicitly start the simulation like this.
@@ -293,6 +333,7 @@ public class LoopbackCommunicationAdapter
 
   @Override
   public synchronized void initVehiclePosition(String newPos) {
+    LAST_PASSED_POINT = newPos;
     ((ExecutorService) getExecutor()).submit(() -> getProcessModel().setPosition(newPos));
   }
 
@@ -398,11 +439,33 @@ 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 {
-      ExecuteMove.setExecTaskKey(getProcessModel().getName(), TASK_KEY);
+//      ExecuteOperation.setExecTaskKey(getProcessModel().getName(), TASK_KEY);
-      TASK_KEY++;
+//      TASK_KEY++;
       //todo 移动
       movementExec(command);
     }
@@ -432,9 +495,6 @@ public class LoopbackCommunicationAdapter
       //下发动作
       ExecuteAction.sendCmd(getProcessModel().getName(), command.getOperation(), getSerialNum());
 
-      // 结束动作
-      finishCmd(command);
-
       //进入阻塞
       while (ACTION_STATUS) {
         try {
@@ -444,6 +504,8 @@ public class LoopbackCommunicationAdapter
         }
       }
 
+      // 结束动作
+      finishCmd(command);
       //继续执行动作
       nextCmd();
     }
@@ -778,13 +840,19 @@ public class LoopbackCommunicationAdapter
 
     //更新车辆姿态
     if (params.getPoint() != 0) {
+      LAST_PASSED_POINT = params.getPoint().toString();   //记录最终经过点
       if (!Objects.equals(getProcessModel().getPosition(), params.getPoint().toString())) {
         getProcessModel().setPosition(params.getPoint().toString());    //更新最终经过点
       }
-      getProcessModel().setPose(new Pose(new Triple(Math.round(params.getX() * 1000), Math.round(params.getY() * 1000), 0), params.getAngle()));
+
+      LAST_POSE = new Pose(new Triple(Math.round(params.getX() * 1000), Math.round(params.getY() * 1000), 0), params.getAngle());
+      getProcessModel().setPose(LAST_POSE);
     } else {
-      //最后经过点为0，应该是车辆重启过。车辆关机时应该正常对点位进行交管，防止车辆碰撞。
+      //最后经过点为0，应该是车辆丢失定位或重启过。todo 可能需要自动找点
-      //todo 可能需要实现原点自动定位，暂时不做处理
+    }
+
+    if (ACTION_STATUS) {
+      vehicleState = Vehicle.State.EXECUTING;
     }
 
     //更新电量

opentcs-common/src/main/java/org/opentcs/common/LoopbackAdapterConstants.java

@@ -53,5 +53,8 @@ public interface LoopbackAdapterConstants {
    * AGV 端口
    */
   String AGV_PORT = "AGV:PORT";
-
+  /**
+   * 对应路线车辆行驶姿态：0=正走，1=到走
+   */
+  String AGV_DRIVE_POSE = "PATH:DRIVE_POSE";
 }

opentcs-common/src/main/java/org/opentcs/communication/http/HttpClient.java

@@ -12,6 +12,7 @@ import org.opentcs.communication.http.dto.BaseRequestTo;
 import org.opentcs.communication.http.dto.kc.move.Path;
 import org.opentcs.communication.http.dto.kc.move.Point;
 import org.opentcs.communication.http.dto.kc.move.RequestAe;
+import org.opentcs.communication.http.service.ExecuteOperation;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -55,7 +56,23 @@ public class HttpClient {
    */
   public static void main(String[] args) {
 
-    HttpClient httpClient = new HttpClient();
+
+    ExecuteOperation executeOperation = new ExecuteOperation();
+
+    {     //暂停订单
+      ExecuteOperation.pauseOrder("v1", 1);
+    }
+
+    {   //继续执行订单
+      ExecuteOperation.continueOrder("v1", 1);
+    }
+
+    {   //撤销订单
+      ExecuteOperation.cancelOrder("v1");
+    }
+
+
+//    HttpClient httpClient = new HttpClient();
 
 //    {   //0x02
 //      //变量成员
@@ -171,49 +188,49 @@ public class HttpClient {
 //      httpClient.sendCommand(baseRequestTo);
 //    }
 
-    {   //0xAE
+//    {   //0xAE
-      RequestAe ae = new RequestAe();
+//      RequestAe ae = new RequestAe();
-      ae.setWms_order_id(1);
+//      ae.setWms_order_id(1);
-      ae.setOrder_id(1);
+//      ae.setOrder_id(1);
-      ae.setTask_key(1);
+//      ae.setTask_key(1);
-      ae.setPoint_size(2);
+//      ae.setPoint_size(2);
-      ae.setPath_size(1);
+//      ae.setPath_size(1);
-
+//
-      ArrayList<Point> pointList = new ArrayList<>();
+//      ArrayList<Point> pointList = new ArrayList<>();
-      for (int i = 0; i < ae.getPoint_size(); i++) {
+//      for (int i = 0; i < ae.getPoint_size(); i++) {
-        Point point = new Point();
+//        Point point = new Point();
-
+//
-        if (i == 0) {
+//        if (i == 0) {
-          point.setPoint_id(1);
+//          point.setPoint_id(1);
-          point.setPoint_serial(0);
+//          point.setPoint_serial(0);
-        } else {
+//        } else {
-          point.setPoint_id(2);
+//          point.setPoint_id(2);
-          point.setPoint_serial(2);
+//          point.setPoint_serial(2);
-        }
+//        }
-        point.setPoint_angle(0);
+//        point.setPoint_angle(0);
-
+//
-        pointList.add(point);
+//        pointList.add(point);
-      }
+//      }
-      ae.setPoint_info(pointList);
+//      ae.setPoint_info(pointList);
-
+//
-      ArrayList<Path> pathList = new ArrayList<>();
+//      ArrayList<Path> pathList = new ArrayList<>();
-      for (int i = 0; i < ae.getPath_size(); i++) {
+//      for (int i = 0; i < ae.getPath_size(); i++) {
-        Path path = new Path();
+//        Path path = new Path();
-
+//
-        path.setPath_id(12);
+//        path.setPath_id(12);
-        path.setPath_serial(1);
+//        path.setPath_serial(1);
-        path.setPath_angle(0);
+//        path.setPath_angle(0);
-        path.setDriver_pose(1);
+//        path.setDriver_pose(1);
-        path.setMax_speed(1);
+//        path.setMax_speed(1);
-        path.setMax_angle_speed(1);
+//        path.setMax_angle_speed(1);
-
+//
-        pathList.add(path);
+//        pathList.add(path);
-      }
+//      }
-      ae.setPath_info(pathList);
+//      ae.setPath_info(pathList);
-
+//
-      BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", 1, "2025-6-6 10:00:00", ae);
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", 1, "2025-6-6 10:00:00", ae);
-
+//
-      httpClient.sendCommand("http://192.168.124.121:2005", baseRequestTo);
+//      httpClient.sendCommand("http://192.168.124.121:2005", baseRequestTo);
-    }
+//    }
   }
 }

opentcs-common/src/main/java/org/opentcs/communication/http/service/BaseService.java

@@ -1,12 +1,34 @@
 package org.opentcs.communication.http.service;
 
+import java.util.concurrent.ThreadLocalRandom;
+import java.util.concurrent.atomic.AtomicInteger;
 import org.opentcs.communication.http.enums.VehicleEnums;
 
 public class BaseService {
 
+  // 随机初始化起点，减少重复概率
+  private static final AtomicInteger counter = new AtomicInteger(
+      ThreadLocalRandom.current().nextInt(1, Integer.MAX_VALUE / 2)
+  );
+
   public static String getUrl(String vehicleName) {
     VehicleEnums vehicleEnums = VehicleEnums.valueOf(vehicleName);
     return "http://" + vehicleEnums.getIp() + ":" + vehicleEnums.getPort();
   }
 
+  /**
+   * 生成进程内唯一的int型ID
+   * 优点：简单高效
+   * 限制：
+   *   - 重启后可能重复
+   *   - 超过21亿后会回绕（正常应用很难达到）
+   */
+  public static int generate() {
+    int id = counter.getAndIncrement();
+    // 处理溢出（当接近int上限时重置为随机值）
+    return (id < 0) ? counter.getAndSet(
+        ThreadLocalRandom.current().nextInt(1, Integer.MAX_VALUE / 2)
+    ) : id;
+  }
+
 }

opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java

@@ -5,6 +5,7 @@ import java.time.format.DateTimeFormatter;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.Objects;
+import org.opentcs.common.LoopbackAdapterConstants;
 import org.opentcs.communication.http.HttpClient;
 import org.opentcs.communication.http.dto.BaseRequestTo;
 import org.opentcs.communication.http.dto.kc.move.Path;
@@ -12,17 +13,19 @@ import org.opentcs.communication.http.dto.kc.move.Point;
 import org.opentcs.communication.http.dto.kc.move.RequestAe;
 import org.opentcs.communication.http.entity.OrderInfo;
 import org.opentcs.drivers.vehicle.MovementCommand;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 
 public class ExecuteMove extends BaseService {
 
+  /**
+   * LOG
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(ExecuteMove.class);
   /**
    * 订单名映射int类型数据.
    */
   private static final HashMap<String, OrderInfo> orderInfoMap = new HashMap<>();
-  /**
-   * 通讯适配器当前执行taskkey
-   */
-  private static HashMap<String, Integer> execTaskKeyMap = new HashMap<>();
 
   /**
    * 发送移动指令
@@ -79,6 +82,8 @@ public class ExecuteMove extends BaseService {
     }
     maxVelocity = 5;
 
+    Integer drivePose = getDrivePose(pathInfo);   //行驶姿态
+
     RequestAe ae = new RequestAe();
     ae.setWms_order_id(1);  //todo 测试填写
     ae.setOrder_id(orderID);
@@ -112,7 +117,7 @@ public class ExecuteMove extends BaseService {
       path.setPath_id(pathID);
       path.setPath_serial(orderInfo.getPathSerialNum());
       path.setPath_angle(0);
-      path.setDriver_pose(0);
+      path.setDriver_pose(drivePose);
       path.setMax_speed(maxVelocity);
       path.setMax_angle_speed(maxVelocity);
 
@@ -138,13 +143,8 @@ public class ExecuteMove extends BaseService {
       //当前车辆已存在集合中
       OrderInfo orderInfo = orderInfoMap.get(vehicleName);
 
-      if (!Objects.equals(orderName, orderInfo.getName())) {
+      if (!Objects.equals(orderName, orderInfo.getName()) && orderInfoMap.containsKey(vehicleName)) {
-        //订单名称不相等为执行下一个订单，初始化订单对应参数
+        orderInfo.setId(generate());
-        orderInfoMap.remove(vehicleName);
-
-        Integer currentOrderId = orderInfo.getId() + 1;
-
-        orderInfo.setId(currentOrderId);
         orderInfo.setName(orderName);
         orderInfo.setState(1);
         orderInfo.setTaskKey(1);
@@ -154,7 +154,7 @@ public class ExecuteMove extends BaseService {
     } else {
       //车辆不在集合中
       OrderInfo orderInfo = new OrderInfo();
-      orderInfo.setId(1);   //todo 测试修改，正式上线应该为1
+      orderInfo.setId(generate());
       orderInfo.setName(orderName);
       orderInfo.setState(1);
       orderInfo.setTaskKey(1);
@@ -165,28 +165,33 @@ public class ExecuteMove extends BaseService {
     }
   }
 
-  /**
-   * 设置当前执行任务key
-   */
-  public static void setExecTaskKey(String vehicleName, Integer taskKey) {
-    if (execTaskKeyMap.containsKey(vehicleName)) {
-      execTaskKeyMap.put(vehicleName, taskKey);
-    } else {
-      execTaskKeyMap.put(vehicleName, 1);
-    }
-  }
-
-  /**
-   * 获取任务key
-   */
-  public static Integer getTaskKey(String vehicleName) {
-    return execTaskKeyMap.get(vehicleName);
-  }
-
   /**
    * 获取当前订单ID
    */
   public static Integer getOrderID(String vehicleName) {
     return orderInfoMap.get(vehicleName).getId();
   }
+
+  /**
+   * 返回行驶姿态
+   */
+  private static Integer getDrivePose(org.opentcs.data.model.Path path) {
+    String drivePost = path.getProperties().get(LoopbackAdapterConstants.AGV_DRIVE_POSE);
+    System.out.println("getDrivePose drivePost: " + drivePost);
+
+    int pose = 0;
+    if (drivePost == null) {
+      return pose;
+    }
+
+    switch (drivePost) {
+      case "1" -> pose = 1;
+      default -> {
+        LOG.error("getDrivePose UNKNOWN DRIVE POSE: {}", drivePost);
+        throw new IllegalArgumentException("UNKNOWN DRIVE POSE: " + drivePost);
+      }
+    }
+
+    return pose;
+  }
 }

opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java

@@ -2,6 +2,7 @@ package org.opentcs.communication.http.service;
 
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
+import java.util.HashMap;
 import org.opentcs.communication.http.HttpClient;
 import org.opentcs.communication.http.dto.BaseRequestTo;
 import org.opentcs.communication.http.dto.kc.operation.Action01;
@@ -18,6 +19,14 @@ public class ExecuteOperation extends BaseService{
    * This class's Logger.
    */
   private static final Logger LOG = LoggerFactory.getLogger(ExecuteOperation.class);
+  /**
+   * 通讯适配器当前执行taskkey
+   */
+  private static HashMap<String, Integer> execTaskKeyMap = new HashMap<>();
+  /**
+   * 序列号
+   */
+  private static Integer serialNum = 0;
 
   /**
    * 暂停执行订单
@@ -32,7 +41,7 @@ public class ExecuteOperation extends BaseService{
     b2.setParam_size(4);
 
     Action01 action01 = new Action01();
-    action01.setIsStopImmediately(1);
+    action01.setIsStopImmediately(0);
 
     b2.setParam_data(action01);
 
@@ -49,7 +58,7 @@ public class ExecuteOperation extends BaseService{
     Integer orderId = ExecuteMove.getOrderID(vehicleName);
 
     //获取任务key
-    Integer taskKey = ExecuteMove.getTaskKey(vehicleName);
+    Integer taskKey = getTaskKey(vehicleName);
 
     RequestB2 b2 = new RequestB2();
 
@@ -69,9 +78,8 @@ public class ExecuteOperation extends BaseService{
   /**
    * 撤销订单
    * @param vehicleName 车辆名称
-   * @param serialNum 序列号
    */
-  public static void cancelOrder(String vehicleName, Integer serialNum) {
+  public static void cancelOrder(String vehicleName) {
 
     //获取订单ID
     Integer orderId = ExecuteMove.getOrderID(vehicleName);
@@ -84,11 +92,11 @@ public class ExecuteOperation extends BaseService{
 
     Action03 action03 = new Action03();
     action03.setOrderId(orderId);
-    action03.setIsStopImmediately(1);
+    action03.setIsStopImmediately(0);
 
     b2.setParam_data(action03);
 
-    sendCmd(vehicleName, b2, serialNum);
+    sendCmd(vehicleName, b2, getSerialNum());
   }
 
   public static void sendCmd(String vehicleName, Object data, Integer serialNum)
@@ -107,4 +115,26 @@ public class ExecuteOperation extends BaseService{
     httpClient.sendCommand(url, baseRequestTo);
   }
 
+  /**
+   * 设置当前执行任务key
+   */
+  public static void setExecTaskKey(String vehicleName, Integer taskKey) {
+    if (execTaskKeyMap.containsKey(vehicleName)) {
+      execTaskKeyMap.put(vehicleName, taskKey);
+    } else {
+      execTaskKeyMap.put(vehicleName, 1);
+    }
+  }
+
+  /**
+   * 获取任务key
+   */
+  public static Integer getTaskKey(String vehicleName) {
+    return execTaskKeyMap.get(vehicleName);
+  }
+
+  private static int getSerialNum() {
+    return serialNum++;
+  }
+
 }

opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteAction.java

@@ -1,36 +0,0 @@
-package org.opentcs.communication.mqtt.service;
-
-import java.time.LocalDateTime;
-import java.time.format.DateTimeFormatter;
-import org.opentcs.communication.mqtt.entity.BaseRequestTo;
-import org.opentcs.communication.mqtt.entity.kc.action.RequestAction;
-
-public class ExecuteAction {
-
-  /**
-   * 下发动作到平台
-   * @param action 动作
-   */
-  public static void sendCmd(String action, Integer serialNum) {
-
-    // 获取当前时间
-    LocalDateTime now = LocalDateTime.now();
-    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
-    String time = now.format(formatter);
-
-    RequestAction requestAction = new RequestAction();
-    requestAction.setAction(action);
-
-    BaseRequestTo baseRequestTo = new BaseRequestTo(
-        4,
-        "OPENTCS",
-        "KC-CTRL",
-        serialNum,
-        time,
-        requestAction
-    );
-
-    //发送mqtt消息
-  }
-
-}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteMove.java

@@ -1,168 +0,0 @@
-package org.opentcs.communication.mqtt.service;
-
-import java.time.LocalDateTime;
-import java.time.format.DateTimeFormatter;
-import java.util.ArrayList;
-import java.util.HashMap;
-import org.opentcs.communication.mqtt.entity.BaseRequestTo;
-import org.opentcs.communication.mqtt.entity.kc.move.Path;
-import org.opentcs.communication.mqtt.entity.kc.move.Point;
-import org.opentcs.communication.mqtt.entity.kc.move.RequestAe;
-import org.opentcs.drivers.vehicle.MovementCommand;
-
-public class ExecuteMove {
-
-  /**
-   * 订单名映射int类型数据.
-   */
-  private static final HashMap<String, Integer> orderNameMap = new HashMap<>();
-  /**
-   * 记录上次下发订单名称
-   */
-  private static String oldOrderName;
-  /**
-   * 当前订单名称对应唯一整数ID
-   */
-  private static Integer currentOrderId = 0;
-  /**
-   * 任务ID
-   * 任务的唯一标识。与订单ID绑定，从1开始，当同一订单下发新的资源时加1；订单ID发生改变，任务KEY需要重新计数。
-   */
-  private static Integer taskKey;
-  /**
-   * 序列号
-   * 用于定位点在整个任务中的位置。目的是区分同一个点ID是否在一个任务中出现多次。从0开始偶数递增，例如：0->2->4->6……
-   */
-  private static Integer pointSerialNum = 0;
-  /**
-   * 用于定位段在整个任务中的位置。目的是区分同一个段ID是否在一个任务中出现多次。从1开始奇数递增，例如：1->3->5->7……
-   */
-  private static Integer pathSerialNum = 1;
-
-  public static void sendCmd(MovementCommand cmd, Integer serialNum)
-  {
-    // 获取当前时间
-    LocalDateTime now = LocalDateTime.now();
-    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
-    String time = now.format(formatter);
-
-    RequestAe ae = buildCommand(cmd);
-    BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, ae);
-
-//    HttpClient httpClient = new HttpClient();
-//    httpClient.sendCommand(baseRequestTo);
-  }
-
-  private static RequestAe buildCommand(MovementCommand cmd)
-  {
-    //订单ID
-    int orderID = getUniqueOrderID(cmd.getTransportOrder().getName());
-    //下发起点
-    String sourcePoint = cmd.getStep().getSourcePoint().getName();
-    int newSourcePoint = Integer.parseInt(sourcePoint);
-    //下发终点
-    String destinationPoint = cmd.getStep().getDestinationPoint().getName();
-    int newDestination = Integer.parseInt(destinationPoint);
-
-    //获取路径ID
-    int pathID;
-    if (newSourcePoint < newDestination) {
-      pathID = Integer.parseInt(sourcePoint + destinationPoint);
-    } else {
-      pathID = Integer.parseInt(destinationPoint + sourcePoint);
-    }
-
-    org.opentcs.data.model.Path pathInfo = cmd.getStep().getPath();
-    int maxVelocity = 1;          //获取最大速度
-    int maxReverseVelocity = 1;   //获取最大反向速度
-    if (pathInfo != null) {
-      maxVelocity = pathInfo.getMaxVelocity();  //获取设置速度
-      maxReverseVelocity = pathInfo.getMaxReverseVelocity();
-    }
-
-    RequestAe ae = new RequestAe();
-    ae.setOrderId(orderID);
-    ae.setTaskKey(taskKey);
-    ae.setPointSize(2);
-    ae.setPathSize(1);
-
-    ArrayList<Point> pointList = new ArrayList<>();
-    for (int i = 0; i < ae.getPointSize(); i++) {
-      Point point = new Point();
-
-      if (i == 0) {
-        point.setPoint_id(newSourcePoint);
-      } else {
-        point.setPoint_id(newDestination);
-      }
-      point.setPoint_serial(pointSerialNum);
-      point.setPoint_angle(0);
-
-      pointSerialNum = pointSerialNum + 2;
-
-      pointList.add(point);
-    }
-    ae.setPoint(pointList);
-
-    ArrayList<Path> pathList = new ArrayList<>();
-    for (int i = 0; i < ae.getPathSize(); i++) {
-      Path path = new Path();
-
-      path.setPath_id(pathID);
-      path.setPath_serial(pathSerialNum);
-      path.setPath_angle(0);
-      path.setDrive_pose(1);
-      path.setMax_speed(maxVelocity);
-      path.setMax_angle_speed(maxVelocity);
-
-      pathSerialNum = pathSerialNum + 2;
-
-      pathList.add(path);
-    }
-    ae.setPath(pathList);
-
-    return ae;
-  }
-
-  /**
-   * 维护订单名对应int类型唯一ID--------todo 待优化：如果调度重启，控制器也需要重启。否则0xAE指令会因为重置订单ID和任务key下发失败。应改成wms数据库ID交互
-   * @param orderName 订单名
-   * @return Integer
-   */
-  private static int getUniqueOrderID(String orderName){
-
-    Integer orderId;
-
-    if (orderNameMap.containsKey(orderName)) {
-      //订单名已存在
-      orderId = orderNameMap.get(orderName);
-    } else {    //订单名不存在
-      //初始化参数
-      initParams();
-
-      if (oldOrderName != null) {
-        //删除上次订单映射唯一ID
-        orderNameMap.remove(oldOrderName);
-      }
-
-      //更新记录订单名称
-      oldOrderName = orderName;
-
-      // 创建对应映射
-      orderId = currentOrderId;
-      currentOrderId++;
-      orderNameMap.put(orderName, orderId);
-    }
-
-    return orderId;
-  }
-
-  /**
-   * 初始化参数
-   */
-  private static void initParams() {
-    taskKey = 1;
-    pointSerialNum = 0;
-    pathSerialNum = 1;
-  }
-}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteOperation.java

@@ -1,7 +0,0 @@
-package org.opentcs.communication.mqtt.service;
-
-public class ExecuteOperation {
-
-
-
-}

opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java

@@ -7,11 +7,7 @@ import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
-import org.opentcs.access.KernelServicePortal;
-import org.opentcs.access.rmi.KernelServicePortalBuilder;
 import org.opentcs.common.GuestUserCredentials;
-import org.opentcs.components.kernel.services.VehicleService;
-import org.opentcs.data.model.Vehicle;
 import org.opentcs.manage.entity.AgvInfo;
 import org.opentcs.manage.entity.AgvInfoParams;
 import org.opentcs.manage.entity.AgvStatus;
@@ -45,15 +41,6 @@ public class AdapterManage {
    * 设置自动关闭适配器时间阈值，单位：毫秒
    */
   private static final Long AUTO_CLOSE_TIME = 2000L;
-  /**
-   * 记录通讯适配器数据，实现异步不阻塞更新车辆模型
-   * 基于线程安全HASHMAP
-   */
-//  private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
-  /**
-   * 内核状态
-   */
-//  public static Boolean kernelStatus = false;
 
   //开启通讯信息
   private static final String USER = GuestUserCredentials.USER;
@@ -63,7 +50,7 @@ public class AdapterManage {
 
   //开启定时任务
   public void START() {
-    scheduler.scheduleWithFixedDelay(task, 5000, 500, TimeUnit.MILLISECONDS);
+    scheduler.scheduleWithFixedDelay(task, 5000, 1000, TimeUnit.MILLISECONDS);
   }
 
   //关闭定时任务
@@ -87,9 +74,9 @@ public class AdapterManage {
     Date date = new Date();
     long currentTime = date.getTime();
 
-    System.out.println("autoManageAdapterStatus sout: " + adapterStatusMap);
+//    System.out.println("autoManageAdapterStatus sout: " + adapterStatusMap);
     adapterStatusMap.forEach((key, value) -> {
-      LOG.info("adapterStatusMap starts name: {}", key);
+//      LOG.info("adapterStatusMap starts name: {}", key);
 
       AgvStatus agvStatus = new AgvStatus();
       agvStatus.setTime(value.getTime());
@@ -108,8 +95,7 @@ public class AdapterManage {
 
       //更新记录数据
       adapterStatusMap.put(key, agvStatus);
-
+//      LOG.info("adapterStatusMap end name: {}", key);
-      LOG.info("adapterStatusMap end name: {}", key);
     });
   }
 
@@ -151,7 +137,6 @@ public class AdapterManage {
     agvInfo.setTime(jsonObject.getString("time"));
     agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));
 
-//    adapterDataMap.put(name, agvInfo);
     return agvInfo;
   }
 
@@ -181,44 +166,4 @@ public class AdapterManage {
     Boolean ENABLE = true;
     Boolean DISABLE = false;
   }
-
-//  private void testSendMessage() {
-//    System.out.println("test");
-//    AgvInfoParams agvInfoParams = new AgvInfoParams();
-//    agvInfoParams.setX(0.5f);
-//    agvInfoParams.setY(0.5f);
-//    agvInfoParams.setAngle(0.5f);
-//    agvInfoParams.setPoint(12);
-//    agvInfoParams.setPower(0.52f);
-//    agvInfoParams.setAgv_status(0);
-//    agvInfoParams.setCargo_status(0);
-//    agvInfoParams.setAgv_model(0);
-//    agvInfoParams.setCharge_status(0);
-//    agvInfoParams.setAction_status(1);
-//
-//    AgvInfo agvInfo = new AgvInfo();
-//    agvInfo.setReceiver("OPENTCS");
-//    agvInfo.setSender("KC-CTRL");
-//    agvInfo.setSerial_num(1);
-//    agvInfo.setType(1);
-//    agvInfo.setTime("2020-07-07 09:09:09");
-//    agvInfo.setVehicle_name("v2");
-//    agvInfo.setParams(agvInfoParams);
-//
-//    System.out.println("testSendMessage agvInfo: " + agvInfo);
-//
-//    KernelServicePortal servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
-//    servicePortal.login(IP, PORT);
-//    VehicleService vehicleService = servicePortal.getVehicleService();
-//    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v2");
-//
-//    if (vehicle != null) {
-//      System.out.println("send success");
-//      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
-//    } else {
-//      System.out.println("send not fund");
-//    }
-//
-////    kernel.sendToAdapter("v2", agvInfo);
-//  }
 }

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

@@ -1,7 +1,8 @@
 package org.opentcs.traffic.common;
 
-import java.util.HashMap;
+import java.awt.geom.Point2D;
-import org.opentcs.traffic.entity.VehicleAttr;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -30,9 +31,19 @@ public class ContourAlgorithm {
    *
    * @return true,可通过，false，不通过
    */
-  public boolean interferenceDetection() {
+  public boolean interferenceDetection(Point2D.Double center) {
+
+//    center.setLocation(0.0, 0.0);
+
+    GeometryFactory geometryFactory = new GeometryFactory();
+    Coordinate[] coords = {
+
+    };
+
+
+//    new BezierCurve()
+
 
-    //
 
     return true;
   }

opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java

@@ -15,9 +15,6 @@ import java.util.Map;
 import java.util.Optional;
 import java.util.Set;
 import java.util.stream.Collectors;
-import org.opentcs.access.KernelServicePortal;
-import org.opentcs.access.rmi.KernelServicePortalBuilder;
-import org.opentcs.common.GuestUserCredentials;
 import org.opentcs.components.kernel.services.RouterService;
 import org.opentcs.components.kernel.services.VehicleService;
 import org.opentcs.data.ObjectUnknownException;
@@ -74,8 +71,12 @@ public class VehicleHandler {
     System.out.println("jsonObject-----ssss: " + data.toString());
 
     //截取平台响应的字符串
-    String jsonStr = data.toString().split("=", 2)[1];
+    String jsonStr;
-//    String jsonStr = data.toString();
+    try {
+      jsonStr = data.toString().split("=", 2)[1];
+    } catch (Exception e) {
+      jsonStr = data.toString();
+    }
     JSONObject jsonObject = JSON.parseObject(jsonStr);
     String name = jsonObject.getString("vehicle_name");
     Integer type = jsonObject.getInteger("type");

opentcs-modeleditor/src/guiceConfig/java/org/opentcs/modeleditor/DefaultPropertySuggestions.java

@@ -42,6 +42,7 @@ public class DefaultPropertySuggestions
     keySuggestions.add(LoopbackAdapterConstants.AGV_AUTHORIZE_CODE);
     keySuggestions.add(LoopbackAdapterConstants.AGV_IP);
     keySuggestions.add(LoopbackAdapterConstants.AGV_PORT);
+    keySuggestions.add(LoopbackAdapterConstants.AGV_DRIVE_POSE);
   }
 
   @Override

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/TransportOrderUtil.java

@@ -10,6 +10,7 @@ import jakarta.inject.Inject;
 import java.util.Collections;
 import java.util.List;
 import java.util.Optional;
+import org.opentcs.communication.http.service.ExecuteOperation;
 import org.opentcs.components.Lifecycle;
 import org.opentcs.components.kernel.Router;
 import org.opentcs.components.kernel.services.InternalTransportOrderService;
@@ -355,6 +356,9 @@ public class TransportOrderUtil
     // vehicle reports the remaining movements as finished.
     updateTransportOrderState(order.getReference(), TransportOrder.State.WITHDRAWN);
 
+    //撤销订单
+    ExecuteOperation.cancelOrder(vehicle.getName());
+
     VehicleController vehicleController
         = vehicleControllerPool.getVehicleController(vehicle.getName());