update
This commit is contained in:
xuzhiheng
parent
f2241efc68
commit
c07ca22d29
@ -27,6 +27,7 @@ import org.opentcs.communication.http.service.ExecuteAction;
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import org.opentcs.communication.http.service.ExecuteMove;
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import org.opentcs.communication.http.service.ExecuteOperation;
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import org.opentcs.components.kernel.Router;
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import org.opentcs.components.kernel.services.DispatcherService;
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import org.opentcs.components.kernel.services.TCSObjectService;
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import org.opentcs.components.kernel.services.TransportOrderService;
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import org.opentcs.components.kernel.services.VehicleService;
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@ -41,6 +42,7 @@ import org.opentcs.data.model.TCSResourceReference;
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import org.opentcs.data.model.Triple;
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import org.opentcs.data.model.Vehicle;
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import org.opentcs.data.order.DriveOrder;
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import org.opentcs.data.order.ReroutingType;
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import org.opentcs.data.order.Route;
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import org.opentcs.data.order.Route.Step;
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import org.opentcs.data.order.TransportOrder;
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@ -162,11 +164,14 @@ public class LoopbackCommunicationAdapter
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private final Router router;
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private final DispatcherService dispatcherService;
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//标记是否开启自动回休息点：true=开启，false=关闭
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private final Boolean IS_AUTOMATIC_BREAKS = true;
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//连接状态
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private final Boolean CONNECT_STATUS = false;
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private final Boolean CONNECT_STATUS = true;
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//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
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private Integer AGV_MODEL;
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/**
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* Creates a new instance.
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@ -185,7 +190,8 @@ public class LoopbackCommunicationAdapter
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TCSObjectService objectService, // 注入对象服务
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VehicleService vehicleService,
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TransportOrderService transportOrderService,
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Router router
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Router router,
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DispatcherService dispatcherService
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) {
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super(
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new LoopbackVehicleModel(vehicle),
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@ -199,6 +205,7 @@ public class LoopbackCommunicationAdapter
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this.vehicleService = requireNonNull(vehicleService, "vehicleService");
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this.transportOrderService = requireNonNull(transportOrderService, "transportOrderService");
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this.router = requireNonNull(router, "router");
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this.dispatcherService = requireNonNull(dispatcherService, "dispatcherService");
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// 初始化充电策略管理器
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this.chargingStrategyManager = new ChargingStrategyManager();
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@ -571,7 +578,7 @@ public class LoopbackCommunicationAdapter
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String currentPosition = getProcessModel().getPosition();
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if (currentPosition != null && currentPosition.equals(CURRENT_POS)) {
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LOG.info("车辆: {} ,实际位置: {} ,记录位置: {}", vehicle.getName(), currentPosition, CURRENT_POS);
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// LOG.info("车辆: {} ,实际位置: {} ,记录位置: {}", vehicle.getName(), currentPosition, CURRENT_POS);
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getExecutor().schedule(
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() -> movementExec(command),
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500,
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@ -591,7 +598,7 @@ public class LoopbackCommunicationAdapter
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private void finishCmd(MovementCommand command) {
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if (Objects.equals(getSentCommands().peek(), command)) {
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LOG.info("车辆: {} ,订单: {} ,命令: {} 结束", vehicle.getName(), command.getTransportOrder().getName(), command);
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// LOG.info("车辆: {} ,订单: {} ,命令: {} 结束", vehicle.getName(), command.getTransportOrder().getName(), command);
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//清理任务队列
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getProcessModel().commandExecuted(requireNonNull(getSentCommands().poll()));
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} else {
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@ -601,8 +608,9 @@ public class LoopbackCommunicationAdapter
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private void nextCmd() {
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if (getSentCommands().isEmpty() && getUnsentCommands().isEmpty() || getProcessModel().isSingleStepModeEnabled()) {
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LOG.info("Vehicle: {} ,order: {} is done", vehicle.getName(), ORDER_NAME);
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// LOG.info("Vehicle: {} ,order: {} is done", vehicle.getName(), ORDER_NAME);
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isSimulationRunning = false;
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getProcessModel().setState(Vehicle.State.IDLE);
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} else {
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LOG.info("Vehicle: {} ,order: {} exec next command: {}", vehicle.getName(), ORDER_NAME, getSentCommands().peek());
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((ExecutorService) getExecutor()).submit(
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@ -864,12 +872,23 @@ public class LoopbackCommunicationAdapter
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//记录车辆最终状态
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Vehicle.State vehicleState;
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Integer oldModel = AGV_MODEL;
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AGV_MODEL = params.getAgv_model();
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switch (params.getAgv_model()) {
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case 3 -> integrationLevel = Vehicle.IntegrationLevel.TO_BE_UTILIZED;
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case 6 -> integrationLevel = Vehicle.IntegrationLevel.TO_BE_IGNORED;
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default -> integrationLevel = Vehicle.IntegrationLevel.TO_BE_RESPECTED;
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}
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if (AGV_MODEL == 1) { //AGV状态切为手动，执行控制器任务撤销
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ExecuteOperation.cancelOrder(vehicle.getName());
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}
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if (oldModel != null && oldModel != 3 && AGV_MODEL == 3) {
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//车辆原本模式不为自动，切换为自动时需要重新路由。
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dispatcherService.reroute(vehicle.getReference(), ReroutingType.FORCED);
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}
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//更新车辆状态
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if (params.getCharge_status() == 1) {
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vehicleState = Vehicle.State.CHARGING;
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@ -946,10 +965,12 @@ public class LoopbackCommunicationAdapter
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* @param agvActionStatus 车辆动作执行状态对象
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*/
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private void handleActionStatus(AgvActionStatus agvActionStatus) {
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LOG.info("handleActionStatus: {}", agvActionStatus.getStatus());
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if (agvActionStatus.getStatus()) {
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// System.out.println("handleActionStatus: ======");
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ACTION_STATUS = false;
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}
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LOG.info("handleActionStatus ACTION_STATUS: {}", ACTION_STATUS);
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}
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/**
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@ -113,7 +113,7 @@ public class ExecuteOperation extends BaseService{
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String time = now.format(formatter);
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// RequestB2 b2 = buildCommand(operation, orderId, taskKey);
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BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, data);
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BaseRequestTo baseRequestTo = new BaseRequestTo(3, "OPENTCS", "KC-CTRL", serialNum, time, data);
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HttpClient httpClient = new HttpClient();
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httpClient.sendCommand(url, baseRequestTo);
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@ -296,6 +296,19 @@ public class V1RequestHandler
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// return jsonBinder.toJson("");
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}
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// private Object handlePostAgvTaskWithdrawal(Request request, Response response)
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// throws KernelRuntimeException {
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//
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// response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
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//
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// //可能会有动作阻塞，所以需要初始化动作状态
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// vehicleHandler.initActionStatus(request.params(":NAME"));
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// //重新路由，需要清理车辆映射订单ID
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// ExecuteMove.resetOrder(request.params(":NAME"));
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//
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// return jsonBinder.toJson("");
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// }
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private Object handlePostDispatcherTrigger(Request request, Response response)
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throws KernelRuntimeException {
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response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
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@ -452,8 +465,7 @@ public class V1RequestHandler
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private Object handlePostWithdrawalByVehicle(Request request, Response response)
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throws ObjectUnknownException {
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//初始化动作状态
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//初始化动作执行状态
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vehicleHandler.initActionStatus(request.params(":NAME"));
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//根据车辆撤销任务
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@ -463,7 +475,7 @@ public class V1RequestHandler
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disableVehicle(request)
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);
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response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
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return "";
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return jsonBinder.toJson("");
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}
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private Object handlePostPeripheralJobWithdrawal(Request request, Response response)
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@ -475,19 +487,13 @@ public class V1RequestHandler
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private Object handlePostVehicleRerouteRequest(Request request, Response response)
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throws ObjectUnknownException {
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//清理车辆映射订单ID
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ExecuteMove.resetOrder(request.params(":NAME"));
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//可能会有动作阻塞，所以需要初始化动作状态
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//初始化动作执行状态
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vehicleHandler.initActionStatus(request.params(":NAME"));
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//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
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// ExecuteOperation.cancelOrder(request.params(":NAME"));
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//立即重新路由
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orderDispatcherHandler.reroute(request.params(":NAME"), forced(request));
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response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
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return "";
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return jsonBinder.toJson("");
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}
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private Object handleGetTransportOrders(Request request, Response response) {
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@ -15,6 +15,7 @@ import java.util.Map;
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import java.util.Optional;
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import java.util.Set;
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import java.util.stream.Collectors;
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import org.opentcs.communication.http.service.ExecuteOperation;
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import org.opentcs.components.kernel.services.RouterService;
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import org.opentcs.components.kernel.services.VehicleService;
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import org.opentcs.data.ObjectUnknownException;
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@ -109,14 +110,37 @@ public class VehicleHandler {
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AgvInfo agvInfo = AdapterManage.setAdapterVehicleModel(name, jsonStr);
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vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
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} else if (type == 5) { //上报动作完成
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//动作完成上报
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//动作完成，初始化动作状态
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initActionStatus(name);
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// AgvActionStatus agvActionStatus = new AgvActionStatus();
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// agvActionStatus.setStatus(true);
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// vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
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} else if (type == 6) { //撤销任务
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//可能会卡动作，先初始化动作
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initActionStatus(name);
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//撤销agv控制器中的运动订单
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ExecuteOperation.cancelOrder(name);
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}
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}
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// /**
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// * 撤销已下发的AGV任务
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// */
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// public void postAgvTaskWithdrawal(Object data) {
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// String jsonStr;
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// try {
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// jsonStr = data.toString().split("=", 2)[1];
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// } catch (Exception e) {
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// jsonStr = data.toString();
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// }
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// JSONObject jsonObject = JSON.parseObject(jsonStr);
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// String name = jsonObject.getString("vehicle_name");
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// Integer type = jsonObject.getInteger("type");
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//
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// //可能会卡动作，先初始化动作
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// initActionStatus(name);
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//
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// //撤销agv控制器中的运动订单
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// ExecuteOperation.cancelOrder(name);
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// }
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/**
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* 初始化动作完成状态
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* @param name 车辆名称
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@ -358,6 +358,7 @@ public class TransportOrderUtil
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//撤销订单,获取订单状态
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TransportOrder.State state = order.getState();
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LOG.info("车辆: {}: 正在中止订单: {} 订单状态: {}...", vehicle.getName(), order.getName(), order.getState());
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if (state == TransportOrder.State.BEING_PROCESSED) {
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//订单执行中，需要撤销下发给控制器的任务
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ExecuteOperation.cancelOrder(vehicle.getName());
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