update

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);
   }
 
   /**

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);

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 {
-
+    //初始化动作执行状态
-    //初始化动作状态
     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
+    //初始化动作执行状态
-    ExecuteMove.resetOrder(request.params(":NAME"));
-
-    //可能会有动作阻塞，所以需要初始化动作状态
     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) {

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();
+    } else if (type == 6) {   //撤销任务
-//      agvActionStatus.setStatus(true);
+      //可能会卡动作，先初始化动作
-//      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
+      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

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());