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xuzhiheng
2025-06-18 13:31:50 +08:00
parent 7ac42a2b80
commit b870caa0e5
2 changed files with 39 additions and 4 deletions
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26
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
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@@ -823,8 +823,16 @@ public class LoopbackCommunicationAdapter
getProcessModel().setPosition(params.getPoint().toString()); //更新最终经过点
}
Pose oldPose = getProcessModel().getPose();
LAST_POSE = new Pose(new Triple(Math.round(params.getX() * 1000), Math.round(params.getY() * 1000), 0), params.getAngle());
getProcessModel().setPose(LAST_POSE);
if (oldPose.getPosition() == null) { //姿态为空,更新
getProcessModel().setPose(LAST_POSE);
} else if (oldPose.getPosition().getX() != Math.round(params.getX() * 1000)
|| oldPose.getPosition().getY() != Math.round(params.getY() * 1000)
|| oldPose.getOrientationAngle() != params.getAngle()) { //姿态有变化,更新
getProcessModel().setPose(LAST_POSE);
}
} else {
//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
}
@@ -834,13 +842,19 @@ public class LoopbackCommunicationAdapter
}
//更新电量
getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100));
if (getProcessModel().getEnergyLevel() != Math.round(params.getPower() * 100)) {
getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100));
}
//更新车辆等级
getProcessModel().integrationLevelChangeRequested(integrationLevel);
if (!Objects.equals(getProcessModel().getIntegrationLevel(), integrationLevel)) {
getProcessModel().integrationLevelChangeRequested(integrationLevel);
}
//更新车辆状态
getProcessModel().setState(vehicleState);
if (!Objects.equals(getProcessModel().getState(), vehicleState)) {
getProcessModel().setState(vehicleState);
}
//更新载货状态
loadState = params.getCargo_status() == 1 ? LoadState.FULL : LoadState.EMPTY;
@@ -851,6 +865,10 @@ public class LoopbackCommunicationAdapter
return serialNum;
}
/**
* 处理车辆动作执行状态
* @param agvActionStatus 车辆动作执行状态对象
*/
private void handleActionStatus(AgvActionStatus agvActionStatus) {
if (agvActionStatus.getStatus()) {
ACTION_STATUS = false;