update

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java

@@ -30,6 +30,7 @@ import org.opentcs.drivers.vehicle.SimVehicleCommAdapter;
 import org.opentcs.drivers.vehicle.VehicleCommAdapter;
 import org.opentcs.drivers.vehicle.VehicleProcessModel;
 import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
+import org.opentcs.manage.entity.AgvActionStatus;
 import org.opentcs.manage.entity.AgvInfo;
 import org.opentcs.manage.entity.AgvInfoParams;
 import org.opentcs.manage.entity.AgvStatus;
@@ -284,9 +285,9 @@ public class LoopbackCommunicationAdapter
     if (message instanceof AgvInfo agvInfo) {
       //通讯适配器车辆模型更新
       handleCallbacks(agvInfo.getParams());
-    } else if  (message instanceof AgvStatus agvStatus) {
+    } else if  (message instanceof AgvActionStatus agvActionStatus) {
       //自动管理通讯适配器状态和适配器动作执行状态
-      handleActionStatus(agvStatus);
+      handleActionStatus(agvActionStatus);
     }
   }
 
@@ -804,8 +805,8 @@ public class LoopbackCommunicationAdapter
     return serialNum;
   }
 
-  private void handleActionStatus(AgvStatus agvStatus) {
+  private void handleActionStatus(AgvActionStatus agvActionStatus) {
-    if (agvStatus.getActionStatus()) {
+    if (agvActionStatus.getStatus()) {
       ACTION_STATUS = false;
     }
   }

opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java

@@ -71,12 +71,13 @@ public class ExecuteMove extends BaseService {
     }
 
     org.opentcs.data.model.Path pathInfo = cmd.getStep().getPath();
-    int maxVelocity = 1;          //获取最大速度
+    int maxVelocity = 5;          //获取最大速度
-    int maxReverseVelocity = 1;   //获取最大反向速度
+    int maxReverseVelocity = 5;   //获取最大反向速度
     if (pathInfo != null) {
       maxVelocity = pathInfo.getMaxVelocity();  //获取设置速度
       maxReverseVelocity = pathInfo.getMaxReverseVelocity();
     }
+    maxVelocity = 5;
 
     RequestAe ae = new RequestAe();
     ae.setWms_order_id(1);  //todo 测试填写
@@ -111,7 +112,7 @@ public class ExecuteMove extends BaseService {
       path.setPath_id(pathID);
       path.setPath_serial(orderInfo.getPathSerialNum());
       path.setPath_angle(0);
-      path.setDriver_pose(1);
+      path.setDriver_pose(0);
       path.setMax_speed(maxVelocity);
       path.setMax_angle_speed(maxVelocity);
 
@@ -153,7 +154,7 @@ public class ExecuteMove extends BaseService {
     } else {
       //车辆不在集合中
       OrderInfo orderInfo = new OrderInfo();
-      orderInfo.setId(1);
+      orderInfo.setId(1);   //todo 测试修改，正式上线应该为1
       orderInfo.setName(orderName);
       orderInfo.setState(1);
       orderInfo.setTaskKey(1);

opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java

@@ -3,7 +3,6 @@ package org.opentcs.manage;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
 import java.util.Date;
-import java.util.HashMap;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
@@ -50,7 +49,7 @@ public class AdapterManage {
    * 记录通讯适配器数据，实现异步不阻塞更新车辆模型
    * 基于线程安全HASHMAP
    */
-  private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
+//  private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
   /**
    * 内核状态
    */
@@ -74,69 +73,21 @@ public class AdapterManage {
 
   Runnable task = () -> {
 
-//    if (!kernelStatus) {
-//      return;
-//    }
-//
-//    System.out.println("test-----start");
-//
-//    KernelServicePortal servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
-//    servicePortal.login(IP, PORT);
-//
-//    VehicleService vehicleService = servicePortal.getVehicleService();
-//    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v2");
-//
-//    vehicleService.enableCommAdapter(vehicle.getReference());
-//
-//    servicePortal.logout();
-//
-//    System.out.println("test-----end");
-
     kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);
 
     autoManageAdapterStatus();
-    updateAdapterVehicleModel();
 
     kernel.logout();
-
   };
 
   /**
    * 自动管理通讯适配器
    */
-//  private static boolean autoManageAdapterStatus(String name) {
-//    Date date = new Date();
-//    long currentTime = date.getTime();
-//
-//    System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
-//
-//    AgvStatus oldData = adapterStatusMap.get(name);
-//
-//    if (oldData == null) {
-//      return false;
-//    }
-//
-//    AgvStatus agvStatus = new AgvStatus();
-//    agvStatus.setTime(oldData.getTime());
-//
-//    if (currentTime - oldData.getTime() > AUTO_CLOSE_TIME) {
-//      System.out.println("adapterStatusMap first DISABLE");
-//      agvStatus.setStatus(AdapterStatus.DISABLE);
-//    } else {
-//      System.out.println("adapterStatusMap first ENABLE");
-//      agvStatus.setStatus(AdapterStatus.ENABLE);
-//    }
-//
-//    //更新记录数据
-//    adapterStatusMap.put(name, agvStatus);
-//
-//    return agvStatus.getStatus();
-//  }
   private void autoManageAdapterStatus() {
     Date date = new Date();
     long currentTime = date.getTime();
 
-    System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
+    System.out.println("autoManageAdapterStatus sout: " + adapterStatusMap);
     adapterStatusMap.forEach((key, value) -> {
       LOG.info("adapterStatusMap starts name: {}", key);
 
@@ -144,52 +95,33 @@ public class AdapterManage {
       agvStatus.setTime(value.getTime());
 
       if (currentTime - value.getTime() > AUTO_CLOSE_TIME) {
-        agvStatus.setStatus(AdapterStatus.DISABLE);
+        //当前时间减去记录时间大于阈值，自动关闭通讯适配器
         kernel.disableAdapter(key);
+        agvStatus.setStatus(AdapterStatus.DISABLE);
       } else {
-        agvStatus.setStatus(AdapterStatus.ENABLE);
+        //通讯适配器当前状态为关闭，设置状态为开启时才会进入
         kernel.enableAdapter(key);
+        agvStatus.setStatus(AdapterStatus.ENABLE);
       }
 
-      LOG.info("update the adapter: {} status：{}", key, value);
+      LOG.info("update the adapter: {} status: {}", key, value);
-
-      if (value.getActionStatus()) {
-        kernel.sendToAdapter(key, agvStatus);
-      }
-
-      //更新数据状态
-      agvStatus.setActionStatus(false);
 
       //更新记录数据
       adapterStatusMap.put(key, agvStatus);
 
-      System.out.println("adapterStatusMap end name: " + key);
       LOG.info("adapterStatusMap end name: {}", key);
     });
   }
 
-  /**
-   * 更新适配器车辆模型
-   */
-  private void updateAdapterVehicleModel() {
-    adapterDataMap.forEach((key, value) -> {
-      System.out.println("updateAdapterVehicleModel name: " + key);
-      kernel.sendToAdapter(key, value);
-      adapterDataMap.remove(key);
-    });
-  }
-
   /**
    * 更新通讯适配器状态
    * @param name 车辆名称
    */
   public static void setAdapterStatus(String name) {
-    Date date = new Date();
-    long time = date.getTime();
-
     AgvStatus newAgvStatus = new AgvStatus();
-    newAgvStatus.setTime(time);
+
-    newAgvStatus.setActionStatus(false);
+    Date date = new Date();
+    newAgvStatus.setTime(date.getTime());
 
     if (!adapterStatusMap.isEmpty() && adapterStatusMap.containsKey(name)) {
       //已记录，只更新时间
@@ -202,38 +134,15 @@ public class AdapterManage {
     adapterStatusMap.put(name, newAgvStatus);
   }
 
-  public static boolean getAdapterStatus(String name) {
-
-    AgvStatus agvStatus = adapterStatusMap.get(name);
-    if (agvStatus != null) {
-      return agvStatus.getStatus();
-    }
-
-    return false;
-  }
-
-  /**
-   * 设置动作完成状态
-   * @param name 车辆名称
-   */
-  public static void setActionStatus(String name) {
-    AgvStatus agvStatus = adapterStatusMap.get(name);
-    agvStatus.setActionStatus(true);
-    adapterStatusMap.put(name, agvStatus);
-  }
-
   /**
    * 记录对应通讯适配器最后一次上报数据
    * @param name 车辆名称
    * @param data 数据
    */
-  public static void setAdapterVehicleModel(String name, String data) {
+  public static AgvInfo setAdapterVehicleModel(String name, String data) {
 
     JSONObject jsonObject = JSON.parseObject(data);
 
-    //校验通讯序列号
-
-
     AgvInfo agvInfo = new AgvInfo();
     agvInfo.setSender(jsonObject.getString("sender"));
     agvInfo.setReceiver(jsonObject.getString("receiver"));
@@ -242,7 +151,8 @@ public class AdapterManage {
     agvInfo.setTime(jsonObject.getString("time"));
     agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));
 
-    adapterDataMap.put(name, agvInfo);
+//    adapterDataMap.put(name, agvInfo);
+    return agvInfo;
   }
 
   private static AgvInfoParams getAgvInfoParams(String paramsStr) {
@@ -271,4 +181,44 @@ public class AdapterManage {
     Boolean ENABLE = true;
     Boolean DISABLE = false;
   }
+
+//  private void testSendMessage() {
+//    System.out.println("test");
+//    AgvInfoParams agvInfoParams = new AgvInfoParams();
+//    agvInfoParams.setX(0.5f);
+//    agvInfoParams.setY(0.5f);
+//    agvInfoParams.setAngle(0.5f);
+//    agvInfoParams.setPoint(12);
+//    agvInfoParams.setPower(0.52f);
+//    agvInfoParams.setAgv_status(0);
+//    agvInfoParams.setCargo_status(0);
+//    agvInfoParams.setAgv_model(0);
+//    agvInfoParams.setCharge_status(0);
+//    agvInfoParams.setAction_status(1);
+//
+//    AgvInfo agvInfo = new AgvInfo();
+//    agvInfo.setReceiver("OPENTCS");
+//    agvInfo.setSender("KC-CTRL");
+//    agvInfo.setSerial_num(1);
+//    agvInfo.setType(1);
+//    agvInfo.setTime("2020-07-07 09:09:09");
+//    agvInfo.setVehicle_name("v2");
+//    agvInfo.setParams(agvInfoParams);
+//
+//    System.out.println("testSendMessage agvInfo: " + agvInfo);
+//
+//    KernelServicePortal servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
+//    servicePortal.login(IP, PORT);
+//    VehicleService vehicleService = servicePortal.getVehicleService();
+//    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v2");
+//
+//    if (vehicle != null) {
+//      System.out.println("send success");
+//      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
+//    } else {
+//      System.out.println("send not fund");
+//    }
+//
+////    kernel.sendToAdapter("v2", agvInfo);
+//  }
 }

opentcs-common/src/main/java/org/opentcs/manage/entity/AgvActionStatus.java

@@ -0,0 +1,13 @@
+package org.opentcs.manage.entity;
+
+import lombok.Data;
+
+@Data
+public class AgvActionStatus {
+
+  /**
+   * 状态: true = 动作执行完成，false = 未知，不做处理
+   */
+  private Boolean status;
+
+}

opentcs-common/src/main/java/org/opentcs/manage/entity/AgvStatus.java

@@ -10,11 +10,7 @@ public class AgvStatus {
    */
   private Long time;
   /**
-   * 通讯适配器状态：trye=开启，false=关闭
+   * 通讯适配器修改状态：trye=开启，false=关闭
    */
   private Boolean status;
-  /**
-   * 动作执行状态：trye=执行完成，false=未知
-   */
-  private Boolean actionStatus;
 }

opentcs-common/src/main/java/org/opentcs/util/KernelCommunication.java

@@ -23,7 +23,7 @@ public class KernelCommunication {
   }
 
   /**
-   * 通讯适配器通讯
+   * 通讯适配器通讯------todo 测试发送数据失败，待修改。勿用！！！！！
    * @param name 车辆名称
    * @param message 数据
    */
@@ -35,6 +35,7 @@ public class KernelCommunication {
     }
 
     System.out.println("sendToAdapter: " + message);
+//    vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
     vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
   }
 

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

@@ -37,6 +37,8 @@ import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesR
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleAllowedOrderTypesTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleEnergyLevelThresholdSetTO;
 import org.opentcs.manage.AdapterManage;
+import org.opentcs.manage.entity.AgvActionStatus;
+import org.opentcs.manage.entity.AgvInfo;
 
 /**
  * Handles requests related to vehicles.
@@ -69,7 +71,7 @@ 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 = data.toString().split("=", 2)[1];
@@ -86,10 +88,13 @@ public class VehicleHandler {
     //将数据更新到线程安全的集合中，防止线程阻塞
     AdapterManage.setAdapterStatus(name);
     if (type == 1) {  //上报agv详细信息
-      AdapterManage.setAdapterVehicleModel(name, jsonStr);
+      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
-      AdapterManage.setActionStatus(name);
+      AgvActionStatus agvActionStatus = new AgvActionStatus();
+      agvActionStatus.setStatus(true);
+      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
     }
   }