update
This commit is contained in:
xuzhiheng
parent
22c0518721
commit
c53ea3f750
@ -30,6 +30,7 @@ import org.opentcs.drivers.vehicle.SimVehicleCommAdapter;
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import org.opentcs.drivers.vehicle.VehicleCommAdapter;
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import org.opentcs.drivers.vehicle.VehicleProcessModel;
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import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
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import org.opentcs.manage.entity.AgvActionStatus;
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import org.opentcs.manage.entity.AgvInfo;
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import org.opentcs.manage.entity.AgvInfoParams;
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import org.opentcs.manage.entity.AgvStatus;
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@ -284,9 +285,9 @@ public class LoopbackCommunicationAdapter
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if (message instanceof AgvInfo agvInfo) {
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//通讯适配器车辆模型更新
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handleCallbacks(agvInfo.getParams());
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} else if (message instanceof AgvStatus agvStatus) {
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} else if (message instanceof AgvActionStatus agvActionStatus) {
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//自动管理通讯适配器状态和适配器动作执行状态
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handleActionStatus(agvStatus);
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handleActionStatus(agvActionStatus);
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}
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}
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@ -804,8 +805,8 @@ public class LoopbackCommunicationAdapter
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return serialNum;
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}
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private void handleActionStatus(AgvStatus agvStatus) {
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if (agvStatus.getActionStatus()) {
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private void handleActionStatus(AgvActionStatus agvActionStatus) {
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if (agvActionStatus.getStatus()) {
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ACTION_STATUS = false;
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}
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}
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@ -71,12 +71,13 @@ public class ExecuteMove extends BaseService {
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}
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org.opentcs.data.model.Path pathInfo = cmd.getStep().getPath();
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int maxVelocity = 1; //获取最大速度
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int maxReverseVelocity = 1; //获取最大反向速度
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int maxVelocity = 5; //获取最大速度
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int maxReverseVelocity = 5; //获取最大反向速度
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if (pathInfo != null) {
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maxVelocity = pathInfo.getMaxVelocity(); //获取设置速度
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maxReverseVelocity = pathInfo.getMaxReverseVelocity();
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}
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maxVelocity = 5;
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RequestAe ae = new RequestAe();
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ae.setWms_order_id(1); //todo 测试填写
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@ -111,7 +112,7 @@ public class ExecuteMove extends BaseService {
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path.setPath_id(pathID);
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path.setPath_serial(orderInfo.getPathSerialNum());
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path.setPath_angle(0);
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path.setDriver_pose(1);
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path.setDriver_pose(0);
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path.setMax_speed(maxVelocity);
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path.setMax_angle_speed(maxVelocity);
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@ -153,7 +154,7 @@ public class ExecuteMove extends BaseService {
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} else {
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//车辆不在集合中
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OrderInfo orderInfo = new OrderInfo();
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orderInfo.setId(1);
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orderInfo.setId(1); //todo 测试修改，正式上线应该为1
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orderInfo.setName(orderName);
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orderInfo.setState(1);
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orderInfo.setTaskKey(1);
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@ -3,7 +3,6 @@ package org.opentcs.manage;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import java.util.Date;
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import java.util.HashMap;
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import java.util.concurrent.ConcurrentHashMap;
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import java.util.concurrent.Executors;
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import java.util.concurrent.ScheduledExecutorService;
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@ -50,7 +49,7 @@ public class AdapterManage {
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* 记录通讯适配器数据，实现异步不阻塞更新车辆模型
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* 基于线程安全HASHMAP
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*/
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private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
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// private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
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/**
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* 内核状态
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*/
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@ -74,69 +73,21 @@ public class AdapterManage {
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Runnable task = () -> {
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// if (!kernelStatus) {
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// return;
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// }
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//
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// System.out.println("test-----start");
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//
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// KernelServicePortal servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
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// servicePortal.login(IP, PORT);
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//
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// VehicleService vehicleService = servicePortal.getVehicleService();
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// Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v2");
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//
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// vehicleService.enableCommAdapter(vehicle.getReference());
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//
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// servicePortal.logout();
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//
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// System.out.println("test-----end");
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kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);
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autoManageAdapterStatus();
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updateAdapterVehicleModel();
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kernel.logout();
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};
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/**
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* 自动管理通讯适配器
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*/
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// private static boolean autoManageAdapterStatus(String name) {
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// Date date = new Date();
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// long currentTime = date.getTime();
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//
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// System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
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//
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// AgvStatus oldData = adapterStatusMap.get(name);
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//
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// if (oldData == null) {
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// return false;
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// }
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//
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// AgvStatus agvStatus = new AgvStatus();
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// agvStatus.setTime(oldData.getTime());
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//
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// if (currentTime - oldData.getTime() > AUTO_CLOSE_TIME) {
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// System.out.println("adapterStatusMap first DISABLE");
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// agvStatus.setStatus(AdapterStatus.DISABLE);
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// } else {
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// System.out.println("adapterStatusMap first ENABLE");
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// agvStatus.setStatus(AdapterStatus.ENABLE);
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// }
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//
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// //更新记录数据
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// adapterStatusMap.put(name, agvStatus);
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//
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// return agvStatus.getStatus();
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// }
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private void autoManageAdapterStatus() {
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Date date = new Date();
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long currentTime = date.getTime();
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System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
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System.out.println("autoManageAdapterStatus sout: " + adapterStatusMap);
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adapterStatusMap.forEach((key, value) -> {
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LOG.info("adapterStatusMap starts name: {}", key);
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@ -144,52 +95,33 @@ public class AdapterManage {
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agvStatus.setTime(value.getTime());
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if (currentTime - value.getTime() > AUTO_CLOSE_TIME) {
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agvStatus.setStatus(AdapterStatus.DISABLE);
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//当前时间减去记录时间大于阈值，自动关闭通讯适配器
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kernel.disableAdapter(key);
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agvStatus.setStatus(AdapterStatus.DISABLE);
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} else {
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agvStatus.setStatus(AdapterStatus.ENABLE);
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//通讯适配器当前状态为关闭，设置状态为开启时才会进入
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kernel.enableAdapter(key);
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agvStatus.setStatus(AdapterStatus.ENABLE);
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}
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LOG.info("update the adapter: {} status：{}", key, value);
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if (value.getActionStatus()) {
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kernel.sendToAdapter(key, agvStatus);
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}
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//更新数据状态
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agvStatus.setActionStatus(false);
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LOG.info("update the adapter: {} status: {}", key, value);
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//更新记录数据
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adapterStatusMap.put(key, agvStatus);
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System.out.println("adapterStatusMap end name: " + key);
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LOG.info("adapterStatusMap end name: {}", key);
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});
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}
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/**
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* 更新适配器车辆模型
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*/
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private void updateAdapterVehicleModel() {
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adapterDataMap.forEach((key, value) -> {
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System.out.println("updateAdapterVehicleModel name: " + key);
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kernel.sendToAdapter(key, value);
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adapterDataMap.remove(key);
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});
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}
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/**
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* 更新通讯适配器状态
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* @param name 车辆名称
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*/
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public static void setAdapterStatus(String name) {
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Date date = new Date();
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long time = date.getTime();
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AgvStatus newAgvStatus = new AgvStatus();
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newAgvStatus.setTime(time);
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newAgvStatus.setActionStatus(false);
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Date date = new Date();
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newAgvStatus.setTime(date.getTime());
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if (!adapterStatusMap.isEmpty() && adapterStatusMap.containsKey(name)) {
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//已记录，只更新时间
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@ -202,38 +134,15 @@ public class AdapterManage {
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adapterStatusMap.put(name, newAgvStatus);
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}
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public static boolean getAdapterStatus(String name) {
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AgvStatus agvStatus = adapterStatusMap.get(name);
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if (agvStatus != null) {
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return agvStatus.getStatus();
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}
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return false;
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}
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/**
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* 设置动作完成状态
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* @param name 车辆名称
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*/
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public static void setActionStatus(String name) {
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AgvStatus agvStatus = adapterStatusMap.get(name);
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agvStatus.setActionStatus(true);
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adapterStatusMap.put(name, agvStatus);
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}
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/**
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* 记录对应通讯适配器最后一次上报数据
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* @param name 车辆名称
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* @param data 数据
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*/
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public static void setAdapterVehicleModel(String name, String data) {
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public static AgvInfo setAdapterVehicleModel(String name, String data) {
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JSONObject jsonObject = JSON.parseObject(data);
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//校验通讯序列号
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AgvInfo agvInfo = new AgvInfo();
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agvInfo.setSender(jsonObject.getString("sender"));
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agvInfo.setReceiver(jsonObject.getString("receiver"));
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@ -242,7 +151,8 @@ public class AdapterManage {
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agvInfo.setTime(jsonObject.getString("time"));
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agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));
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adapterDataMap.put(name, agvInfo);
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// adapterDataMap.put(name, agvInfo);
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return agvInfo;
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}
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private static AgvInfoParams getAgvInfoParams(String paramsStr) {
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@ -271,4 +181,44 @@ public class AdapterManage {
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Boolean ENABLE = true;
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Boolean DISABLE = false;
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}
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// private void testSendMessage() {
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// System.out.println("test");
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// AgvInfoParams agvInfoParams = new AgvInfoParams();
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// agvInfoParams.setX(0.5f);
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// agvInfoParams.setY(0.5f);
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// agvInfoParams.setAngle(0.5f);
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// agvInfoParams.setPoint(12);
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// agvInfoParams.setPower(0.52f);
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// agvInfoParams.setAgv_status(0);
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// agvInfoParams.setCargo_status(0);
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// agvInfoParams.setAgv_model(0);
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// agvInfoParams.setCharge_status(0);
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// agvInfoParams.setAction_status(1);
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//
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// AgvInfo agvInfo = new AgvInfo();
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// agvInfo.setReceiver("OPENTCS");
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// agvInfo.setSender("KC-CTRL");
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// agvInfo.setSerial_num(1);
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// agvInfo.setType(1);
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// agvInfo.setTime("2020-07-07 09:09:09");
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// agvInfo.setVehicle_name("v2");
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// agvInfo.setParams(agvInfoParams);
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//
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// System.out.println("testSendMessage agvInfo: " + agvInfo);
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//
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// KernelServicePortal servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
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// servicePortal.login(IP, PORT);
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// VehicleService vehicleService = servicePortal.getVehicleService();
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// Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v2");
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//
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// if (vehicle != null) {
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// System.out.println("send success");
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// vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
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// } else {
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// System.out.println("send not fund");
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// }
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//
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//// kernel.sendToAdapter("v2", agvInfo);
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// }
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}
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@ -0,0 +1,13 @@
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package org.opentcs.manage.entity;
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import lombok.Data;
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@Data
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public class AgvActionStatus {
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/**
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* 状态: true = 动作执行完成，false = 未知，不做处理
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*/
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private Boolean status;
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}
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@ -10,11 +10,7 @@ public class AgvStatus {
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*/
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private Long time;
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/**
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* 通讯适配器状态：trye=开启，false=关闭
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* 通讯适配器修改状态：trye=开启，false=关闭
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*/
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private Boolean status;
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/**
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* 动作执行状态：trye=执行完成，false=未知
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*/
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private Boolean actionStatus;
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}
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@ -23,7 +23,7 @@ public class KernelCommunication {
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}
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/**
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* 通讯适配器通讯
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* 通讯适配器通讯------todo 测试发送数据失败，待修改。勿用！！！！！
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* @param name 车辆名称
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* @param message 数据
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*/
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@ -35,6 +35,7 @@ public class KernelCommunication {
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}
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System.out.println("sendToAdapter: " + message);
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// vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
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vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
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}
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@ -37,6 +37,8 @@ import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesR
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleAllowedOrderTypesTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleEnergyLevelThresholdSetTO;
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import org.opentcs.manage.AdapterManage;
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import org.opentcs.manage.entity.AgvActionStatus;
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import org.opentcs.manage.entity.AgvInfo;
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/**
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* Handles requests related to vehicles.
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@ -69,7 +71,7 @@ public class VehicleHandler {
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* 接收平台异步回调处理
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*/
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public void postReceiveCallback(Object data) {
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// System.out.println("jsonObject-----ssss: " + data.toString());
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System.out.println("jsonObject-----ssss: " + data.toString());
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//截取平台响应的字符串
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String jsonStr = data.toString().split("=", 2)[1];
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@ -86,10 +88,13 @@ public class VehicleHandler {
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//将数据更新到线程安全的集合中，防止线程阻塞
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AdapterManage.setAdapterStatus(name);
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if (type == 1) { //上报agv详细信息
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AdapterManage.setAdapterVehicleModel(name, jsonStr);
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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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AdapterManage.setActionStatus(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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}
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}
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Reference in New Issue
Block a user