修改创建订单逻辑

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

@@ -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
+    //订单目标点结构体
-    PostOrderSequenceRequestTO postOrderSequenceRequestTO = new PostOrderSequenceRequestTO();
+    List<Destination> destinationsList = new ArrayList<>();
-    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
     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)

opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java

@@ -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());
+    String executeVehicle = vehicleHandler.getExecuteVehicle(dataList.getFirst().getPoint());
-    System.out.println("handlePostTransportOrder: " + executeVehicle);
 
-    //定制逻辑
+    //创建订单
-    return jsonBinder.toJson(
+    TransportOrder wmsTask = transportOrderHandler.createWmsTask(
-        transportOrderHandler.createWmsTask(
+        request.params(":NAME"),
-            request.params(":NAME"),
+        executeVehicle,
-            executeVehicle,
+        type,
-            type,
+        dataList
-            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)

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

@@ -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";
+    VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
-//    VehicleCommAdapterDescription newAdapter
+    if (!vehicleProcessModelTO.isCommAdapterEnabled()) {
-//        = vehicleService.fetchAttachmentInformation(vehicle.getReference())
+      //未开启通讯适配器，手动选择通讯适配器开启
-//        .getAvailableCommAdapters()
+      String adapterName = "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterDescription";
-//        .stream()
+      VehicleCommAdapterDescription newAdapter
-//        .filter(description -> description.getClass().getName().equals(adapterName))
+          = vehicleService.fetchAttachmentInformation(vehicle.getReference())
-//        .findAny()
+          .getAvailableCommAdapters()
-//        .orElseThrow(
+          .stream()
-//            () -> new IllegalArgumentException("Unknown vehicle driver class name: " + adapterName)
+          .filter(description -> description.getClass().getName().equals(adapterName))
-//        );
+          .findAny()
-//    vehicleService.attachCommAdapter(vehicle.getReference(), newAdapter);
+          .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) {
+  public String getExecuteVehicle(String destinationPoint) {
-
-//    System.out.println("sourcePoint: " + sourcePoint + " destinationPoint: " + 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;
   }