update

opentcs-api-base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java

@@ -91,6 +91,14 @@ public class VehicleProcessModel {
    * The vehicle's current bounding box.
    */
   private BoundingBox boundingBox;
+  /**
+   * 当前车辆级别
+   */
+  private Vehicle.IntegrationLevel integrationLevel;
+  /**
+   * 载货状态
+   */
+  private Boolean loadState;
 
   /**
    * Creates a new instance.
@@ -661,6 +669,7 @@ public class VehicleProcessModel {
       @Nonnull
       Vehicle.IntegrationLevel level
   ) {
+    integrationLevel = level;
     getPropertyChangeSupport().firePropertyChange(
         Attribute.INTEGRATION_LEVEL_CHANGE_REQUESTED.name(),
         null,
@@ -668,6 +677,14 @@ public class VehicleProcessModel {
     );
   }
 
+  /**
+   * 获取车辆级别
+   * @return 车辆级别
+   */
+  public Vehicle.IntegrationLevel getIntegrationLevel() {
+    return integrationLevel;
+  }
+
   /**
    * Notifies observers that the vehicle would like to have its current transport order withdrawn.
    *

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

@@ -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;