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修改创建订单逻辑

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This commit is contained in:
xuzhiheng 2025-06-24 20:22:30 +08:00
parent 3e546985f2
commit bb878f6dc8
3 changed files with 66 additions and 71 deletions
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46
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/TransportOrderHandler.java
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@ -62,48 +62,36 @@ public class TransportOrderHandler {
/**
* 根据WMS任务创建订单序列和运输订单
* @param sequenceName 序列名称
* @param orderName 订单名称
* @param vehicleName 车辆名称
* @param type 订单类型
* @param destinations 位置信息
* @return 创建的订单
*/
public List<TransportOrder> createWmsTask(String sequenceName, String vehicleName, String type, List<PostTransportOrderInfoRequestTo> destinations){
public TransportOrder createWmsTask(String orderName, String vehicleName, String type, List<PostTransportOrderInfoRequestTo> destinations){
//构建订单序列对象
PostOrderSequenceRequestTO postOrderSequenceRequestTO = new PostOrderSequenceRequestTO();
postOrderSequenceRequestTO.setIncompleteName(false);
postOrderSequenceRequestTO.setType(type);
postOrderSequenceRequestTO.setIntendedVehicle(vehicleName);
postOrderSequenceRequestTO.setFailureFatal(true);
//根据传入name，创建订单序列
this.createOrderSequence(sequenceName, postOrderSequenceRequestTO);
//构建订单对象
PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
postTransportOrderRequestTO.setIncompleteName(true);
postTransportOrderRequestTO.setDispensable(false);
postTransportOrderRequestTO.setDeadline(Instant.now());
postTransportOrderRequestTO.setIntendedVehicle(vehicleName);
// postTransportOrderRequestTO.setPeripheralReservationToken("");
postTransportOrderRequestTO.setWrappingSequence(sequenceName);
postTransportOrderRequestTO.setType(type);
List<TransportOrder> orders = new ArrayList<>();
//根据传入点位创建订单
//订单目标点结构体
List<Destination> destinationsList = new ArrayList<>();
for (PostTransportOrderInfoRequestTo destination : destinations) {
List<Destination> destinationsList = new ArrayList<>();
Destination newDestination = new Destination();
newDestination.setLocationName(destination.getLocationName());
newDestination.setOperation(destination.getOperation());
destinationsList.add(newDestination);
postTransportOrderRequestTO.setDestinations(destinationsList);
TransportOrder order = this.createOrder("", postTransportOrderRequestTO);
orders.add(order);
}
return orders;
//构建订单对象
PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
postTransportOrderRequestTO.setIncompleteName(false);
postTransportOrderRequestTO.setDispensable(false);
postTransportOrderRequestTO.setDeadline(Instant.now());
if (vehicleName != null) {
postTransportOrderRequestTO.setIntendedVehicle(vehicleName);
}
postTransportOrderRequestTO.setType(type);
postTransportOrderRequestTO.setDestinations(destinationsList);
//创建运输订单
return this.createOrder(orderName, postTransportOrderRequestTO);
}
public TransportOrder createOrder(String name, PostTransportOrderRequestTO order)

32
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java
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@ -11,6 +11,7 @@ import java.util.concurrent.ExecutionException;
import org.opentcs.access.KernelRuntimeException;
import org.opentcs.data.ObjectExistsException;
import org.opentcs.data.ObjectUnknownException;
import org.opentcs.data.order.TransportOrder;
import org.opentcs.kernel.extensions.servicewebapi.HttpConstants;
import org.opentcs.kernel.extensions.servicewebapi.JsonBinder;
import org.opentcs.kernel.extensions.servicewebapi.RequestHandler;
@ -292,7 +293,8 @@ public class V1RequestHandler
vehicleHandler.postReceiveCallback(
request.body()
);
return jsonBinder.toJson("");
return "";
// return jsonBinder.toJson("");
}
private Object handlePostDispatcherTrigger(Request request, Response response)
@ -377,19 +379,25 @@ public class V1RequestHandler
List<PostTransportOrderInfoRequestTo> dataList = JSON.parseArray(destinations, PostTransportOrderInfoRequestTo.class);
//获取路由成本最低的车辆
String executeVehicle = vehicleHandler.getExecuteVehicle(dataList.getFirst().getPoint(), dataList.getLast().getPoint());
System.out.println("handlePostTransportOrder: " + executeVehicle);
String executeVehicle = vehicleHandler.getExecuteVehicle(dataList.getFirst().getPoint());
//定制逻辑
return jsonBinder.toJson(
transportOrderHandler.createWmsTask(
request.params(":NAME"),
executeVehicle,
type,
dataList
)
//创建订单
TransportOrder wmsTask = transportOrderHandler.createWmsTask(
request.params(":NAME"),
executeVehicle,
type,
dataList
);
//尝试立即将订单分配给意向车辆
if (executeVehicle != null) {
//todo 有问题需要延时或者分配车辆时过滤已绑定订单的意向车辆
orderDispatcherHandler.tryImmediateAssignment(request.params(":NAME"));
}
//构建响应json
return jsonBinder.toJson(wmsTask);
// return jsonBinder.toJson(
// GetTransportOrderResponseTO.fromTransportOrder(
// transportOrderHandler.createOrder(
@ -449,7 +457,7 @@ public class V1RequestHandler
ExecutionException {
transportOrderHandler.putOrderSequenceComplete(request.params(":NAME"));
response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
return "";
return jsonBinder.toJson("");
}
private Object handlePostImmediateAssignment(Request request, Response response)

59
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java
View File

@ -69,7 +69,7 @@ public class VehicleHandler {
* 接收平台异步回调处理
*/
public void postReceiveCallback(Object data) {
System.out.println("jsonObject-----ssss: " + data.toString());
// System.out.println("jsonObject-----ssss: " + data.toString());
//截取平台响应的字符串
String jsonStr;
@ -87,17 +87,21 @@ public class VehicleHandler {
throw new ObjectUnknownException("postReceiveCallback Unknown vehicle: " + name);
}
// String adapterName = "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterDescription";
// VehicleCommAdapterDescription newAdapter
// = vehicleService.fetchAttachmentInformation(vehicle.getReference())
// .getAvailableCommAdapters()
// .stream()
// .filter(description -> description.getClass().getName().equals(adapterName))
// .findAny()
// .orElseThrow(
// () -> new IllegalArgumentException("Unknown vehicle driver class name: " + adapterName)
// );
// vehicleService.attachCommAdapter(vehicle.getReference(), newAdapter);
VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
if (!vehicleProcessModelTO.isCommAdapterEnabled()) {
//未开启通讯适配器，手动选择通讯适配器开启
String adapterName = "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterDescription";
VehicleCommAdapterDescription newAdapter
= vehicleService.fetchAttachmentInformation(vehicle.getReference())
.getAvailableCommAdapters()
.stream()
.filter(description -> description.getClass().getName().equals(adapterName))
.findAny()
.orElseThrow(
() -> new IllegalArgumentException("Unknown vehicle driver class name: " + adapterName)
);
vehicleService.attachCommAdapter(vehicle.getReference(), newAdapter);
}
//将数据更新到线程安全的集合中，防止线程阻塞
AdapterManage.setAdapterStatus(name);
@ -114,13 +118,10 @@ public class VehicleHandler {
/**
* 获取执行成本最低车辆
* @param sourcePoint 起点
* @param destinationPoint 目标点
* @return 车辆名称
*/
public String getExecuteVehicle(String sourcePoint, String destinationPoint) {
// System.out.println("sourcePoint: " + sourcePoint + " destinationPoint: " + destinationPoint);
public String getExecuteVehicle(String destinationPoint) {
//获取所有车辆
Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
@ -135,30 +136,28 @@ public class VehicleHandler {
VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
boolean commAdapterEnabled = vehicleProcessModelTO.isCommAdapterEnabled();
//校验车辆：通讯适配器、状态、集成级别 todo 可能需要改,无空闲车辆可能也要分配车辆
//校验车辆：通讯适配器状态、车辆状态、集成级别、订单
if (
!commAdapterEnabled ||
vehicle.getState() != Vehicle.State.IDLE ||
vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED
vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED ||
vehicle.getTransportOrder() != null
) {
//车辆不能执行任务直接获取下台车辆
continue;
}
//获取车辆当前位置设置为起点
String sourcePoint = vehicle.getCurrentPosition().getName();
PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList);
postVehicleRoutesRequestTO.setSourcePoint(sourcePoint);
Map<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
// System.out.println("getExecuteVehicle vehicleRoutes: " + vehicleRoutes);
for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
TCSObjectReference<Point> key = entry.getKey();
// TCSObjectReference<Point> key = entry.getKey();
Route value = entry.getValue();
// System.out.println("getExecuteVehicle point: " + key);
// System.out.println("getExecuteVehicle route: " + value);
// System.out.println("getExecuteVehicle route costs: " + value.getCosts());
//判断成本值是否合规(为空或小于0不合规)
if (value == null || value.getCosts() < 0) {
continue;
@ -173,12 +172,12 @@ public class VehicleHandler {
}
}
if (vehicleName == null) {
throw new IllegalArgumentException("无可用车辆");
// throw new IllegalArgumentException("No vehicle available.");
}
//todo 无空闲车辆可能需要创建一个无车辆订单序列
if (vehicleName == null) {
//无空闲车辆需要创建订单无意向车辆订单
// throw new IllegalArgumentException("无可用车辆");
return "";
}
return vehicleName;
}