From c07ca22d297949719795c20c2ea819ee1fe48100 Mon Sep 17 00:00:00 2001 From: xuzhiheng <2543137953@qq.com> Date: Thu, 3 Jul 2025 13:50:22 +0800 Subject: [PATCH] update --- .../LoopbackCommunicationAdapter.java | 33 +++++++++++++++---- .../http/service/ExecuteOperation.java | 2 +- .../servicewebapi/v1/V1RequestHandler.java | 28 +++++++++------- .../servicewebapi/v1/VehicleHandler.java | 32 +++++++++++++++--- .../basic/dispatching/TransportOrderUtil.java | 1 + 5 files changed, 74 insertions(+), 22 deletions(-) diff --git a/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java b/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java index 0239d7f..f07176b 100644 --- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java +++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java @@ -27,6 +27,7 @@ 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.Router; +import org.opentcs.components.kernel.services.DispatcherService; import org.opentcs.components.kernel.services.TCSObjectService; import org.opentcs.components.kernel.services.TransportOrderService; import org.opentcs.components.kernel.services.VehicleService; @@ -41,6 +42,7 @@ import org.opentcs.data.model.TCSResourceReference; import org.opentcs.data.model.Triple; import org.opentcs.data.model.Vehicle; import org.opentcs.data.order.DriveOrder; +import org.opentcs.data.order.ReroutingType; import org.opentcs.data.order.Route; import org.opentcs.data.order.Route.Step; import org.opentcs.data.order.TransportOrder; @@ -162,11 +164,14 @@ public class LoopbackCommunicationAdapter private final Router router; + private final DispatcherService dispatcherService; + //标记是否开启自动回休息点：true=开启，false=关闭 private final Boolean IS_AUTOMATIC_BREAKS = true; - //连接状态 - private final Boolean CONNECT_STATUS = false; + private final Boolean CONNECT_STATUS = true; + //AGV模式:待机 = 0，手动 = 1，半自动 = 2，自动 = 3，示教 = 4，服务 = 5（升级程序中的工作，状态），维修 = 6 + private Integer AGV_MODEL; /** * Creates a new instance. @@ -185,7 +190,8 @@ public class LoopbackCommunicationAdapter TCSObjectService objectService, // 注入对象服务 VehicleService vehicleService, TransportOrderService transportOrderService, - Router router + Router router, + DispatcherService dispatcherService ) { super( new LoopbackVehicleModel(vehicle), @@ -199,6 +205,7 @@ public class LoopbackCommunicationAdapter this.vehicleService = requireNonNull(vehicleService, "vehicleService"); this.transportOrderService = requireNonNull(transportOrderService, "transportOrderService"); this.router = requireNonNull(router, "router"); + this.dispatcherService = requireNonNull(dispatcherService, "dispatcherService"); // 初始化充电策略管理器 this.chargingStrategyManager = new ChargingStrategyManager(); @@ -571,7 +578,7 @@ public class LoopbackCommunicationAdapter String currentPosition = getProcessModel().getPosition(); if (currentPosition != null && currentPosition.equals(CURRENT_POS)) { - LOG.info("车辆: {} ,实际位置: {} ,记录位置: {}", vehicle.getName(), currentPosition, CURRENT_POS); +// LOG.info("车辆: {} ,实际位置: {} ,记录位置: {}", vehicle.getName(), currentPosition, CURRENT_POS); getExecutor().schedule( () -> movementExec(command), 500, @@ -591,7 +598,7 @@ public class LoopbackCommunicationAdapter private void finishCmd(MovementCommand command) { if (Objects.equals(getSentCommands().peek(), command)) { - LOG.info("车辆: {} ,订单: {} ,命令: {} 结束", vehicle.getName(), command.getTransportOrder().getName(), command); +// LOG.info("车辆: {} ,订单: {} ,命令: {} 结束", vehicle.getName(), command.getTransportOrder().getName(), command); //清理任务队列 getProcessModel().commandExecuted(requireNonNull(getSentCommands().poll())); } else { @@ -601,8 +608,9 @@ public class LoopbackCommunicationAdapter private void nextCmd() { if (getSentCommands().isEmpty() && getUnsentCommands().isEmpty() || getProcessModel().isSingleStepModeEnabled()) { - LOG.info("Vehicle: {} ,order: {} is done", vehicle.getName(), ORDER_NAME); +// LOG.info("Vehicle: {} ,order: {} is done", vehicle.getName(), ORDER_NAME); isSimulationRunning = false; + getProcessModel().setState(Vehicle.State.IDLE); } else { LOG.info("Vehicle: {} ,order: {} exec next command: {}", vehicle.getName(), ORDER_NAME, getSentCommands().peek()); ((ExecutorService) getExecutor()).submit( @@ -864,12 +872,23 @@ public class LoopbackCommunicationAdapter //记录车辆最终状态 Vehicle.State vehicleState; + Integer oldModel = AGV_MODEL; + AGV_MODEL = params.getAgv_model(); switch (params.getAgv_model()) { case 3 -> integrationLevel = Vehicle.IntegrationLevel.TO_BE_UTILIZED; case 6 -> integrationLevel = Vehicle.IntegrationLevel.TO_BE_IGNORED; default -> integrationLevel = Vehicle.IntegrationLevel.TO_BE_RESPECTED; } + if (AGV_MODEL == 1) { //AGV状态切为手动，执行控制器任务撤销 + ExecuteOperation.cancelOrder(vehicle.getName()); + } + + if (oldModel != null && oldModel != 3 && AGV_MODEL == 3) { + //车辆原本模式不为自动，切换为自动时需要重新路由。 + dispatcherService.reroute(vehicle.getReference(), ReroutingType.FORCED); + } + //更新车辆状态 if (params.getCharge_status() == 1) { vehicleState = Vehicle.State.CHARGING; @@ -946,10 +965,12 @@ public class LoopbackCommunicationAdapter * @param agvActionStatus 车辆动作执行状态对象 */ private void handleActionStatus(AgvActionStatus agvActionStatus) { + LOG.info("handleActionStatus: {}", agvActionStatus.getStatus()); if (agvActionStatus.getStatus()) { // System.out.println("handleActionStatus: ======"); ACTION_STATUS = false; } + LOG.info("handleActionStatus ACTION_STATUS: {}", ACTION_STATUS); } /** diff --git a/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java b/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java index 17d0976..22a40d2 100644 --- a/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java +++ b/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java @@ -113,7 +113,7 @@ public class ExecuteOperation extends BaseService{ String time = now.format(formatter); // RequestB2 b2 = buildCommand(operation, orderId, taskKey); - BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, data); + BaseRequestTo baseRequestTo = new BaseRequestTo(3, "OPENTCS", "KC-CTRL", serialNum, time, data); HttpClient httpClient = new HttpClient(); httpClient.sendCommand(url, baseRequestTo); diff --git a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java index de87f4c..c423ea1 100644 --- a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java +++ b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java @@ -296,6 +296,19 @@ public class V1RequestHandler // return jsonBinder.toJson(""); } +// private Object handlePostAgvTaskWithdrawal(Request request, Response response) +// throws KernelRuntimeException { +// +// response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8); +// +// //可能会有动作阻塞，所以需要初始化动作状态 +// vehicleHandler.initActionStatus(request.params(":NAME")); +// //重新路由，需要清理车辆映射订单ID +// ExecuteMove.resetOrder(request.params(":NAME")); +// +// return jsonBinder.toJson(""); +// } + private Object handlePostDispatcherTrigger(Request request, Response response) throws KernelRuntimeException { response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8); @@ -452,8 +465,7 @@ public class V1RequestHandler private Object handlePostWithdrawalByVehicle(Request request, Response response) throws ObjectUnknownException { - - //初始化动作状态 + //初始化动作执行状态 vehicleHandler.initActionStatus(request.params(":NAME")); //根据车辆撤销任务 @@ -463,7 +475,7 @@ public class V1RequestHandler disableVehicle(request) ); response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8); - return ""; + return jsonBinder.toJson(""); } private Object handlePostPeripheralJobWithdrawal(Request request, Response response) @@ -475,19 +487,13 @@ public class V1RequestHandler private Object handlePostVehicleRerouteRequest(Request request, Response response) throws ObjectUnknownException { - //清理车辆映射订单ID - ExecuteMove.resetOrder(request.params(":NAME")); - - //可能会有动作阻塞，所以需要初始化动作状态 + //初始化动作执行状态 vehicleHandler.initActionStatus(request.params(":NAME")); - //撤销订单 todo 订单撤销后可能会有延时继续运动，所以应该考虑是否需要等待订单撤销成功 -// ExecuteOperation.cancelOrder(request.params(":NAME")); - //立即重新路由 orderDispatcherHandler.reroute(request.params(":NAME"), forced(request)); response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8); - return ""; + return jsonBinder.toJson(""); } private Object handleGetTransportOrders(Request request, Response response) { diff --git a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java index 1feb67d..0a3bda0 100644 --- a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java +++ b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java @@ -15,6 +15,7 @@ import java.util.Map; import java.util.Optional; import java.util.Set; import java.util.stream.Collectors; +import org.opentcs.communication.http.service.ExecuteOperation; import org.opentcs.components.kernel.services.RouterService; import org.opentcs.components.kernel.services.VehicleService; import org.opentcs.data.ObjectUnknownException; @@ -109,14 +110,37 @@ public class VehicleHandler { AgvInfo agvInfo = AdapterManage.setAdapterVehicleModel(name, jsonStr); vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo); } else if (type == 5) { //上报动作完成 - //动作完成上报 + //动作完成，初始化动作状态 initActionStatus(name); -// AgvActionStatus agvActionStatus = new AgvActionStatus(); -// agvActionStatus.setStatus(true); -// vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus); + } else if (type == 6) { //撤销任务 + //可能会卡动作，先初始化动作 + initActionStatus(name); + //撤销agv控制器中的运动订单 + ExecuteOperation.cancelOrder(name); } } +// /** +// * 撤销已下发的AGV任务 +// */ +// public void postAgvTaskWithdrawal(Object data) { +// String jsonStr; +// 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"); +// +// //可能会卡动作，先初始化动作 +// initActionStatus(name); +// +// //撤销agv控制器中的运动订单 +// ExecuteOperation.cancelOrder(name); +// } + /** * 初始化动作完成状态 * @param name 车辆名称 diff --git a/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/TransportOrderUtil.java b/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/TransportOrderUtil.java index 4c05221..8547290 100644 --- a/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/TransportOrderUtil.java +++ b/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/TransportOrderUtil.java @@ -358,6 +358,7 @@ public class TransportOrderUtil //撤销订单,获取订单状态 TransportOrder.State state = order.getState(); + LOG.info("车辆: {}: 正在中止订单: {} 订单状态: {}...", vehicle.getName(), order.getName(), order.getState()); if (state == TransportOrder.State.BEING_PROCESSED) { //订单执行中，需要撤销下发给控制器的任务 ExecuteOperation.cancelOrder(vehicle.getName());