diff --git a/opentcs-api-base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java b/opentcs-api-base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java index 0c169df..8f8c210 100644 --- a/opentcs-api-base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java +++ b/opentcs-api-base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java @@ -91,6 +91,14 @@ public class VehicleProcessModel { * The vehicle's current bounding box. */ private BoundingBox boundingBox; + /** + * 当前车辆级别 + */ + private Vehicle.IntegrationLevel integrationLevel; + /** + * 载货状态 + */ + private Boolean loadState; /** * Creates a new instance. @@ -661,6 +669,7 @@ public class VehicleProcessModel { @Nonnull Vehicle.IntegrationLevel level ) { + integrationLevel = level; getPropertyChangeSupport().firePropertyChange( Attribute.INTEGRATION_LEVEL_CHANGE_REQUESTED.name(), null, @@ -668,6 +677,14 @@ public class VehicleProcessModel { ); } + /** + * 获取车辆级别 + * @return 车辆级别 + */ + public Vehicle.IntegrationLevel getIntegrationLevel() { + return integrationLevel; + } + /** * Notifies observers that the vehicle would like to have its current transport order withdrawn. * 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 dfbbbf3..7c05c1a 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 @@ -492,28 +492,6 @@ public class LoopbackCommunicationAdapter getProcessModel().setState(Vehicle.State.EXECUTING); Step step = command.getStep(); - Vehicle newVehicle = vehicleService.fetchObject(Vehicle.class, getProcessModel().getName()); - List>> allocatedResources = newVehicle.getAllocatedResources(); - - //使用副本更新车辆模型，防止异常情况 - List>> copiedResources = new ArrayList<>(allocatedResources); - copiedResources.clear(); - - if (step.getSourcePoint() != null) { - //下发起点不为空 - Point point = objectService.fetchObject(Point.class, step.getSourcePoint().getName()); - Set> resource = new HashSet<>(); - resource.add(point.getReference()); - copiedResources.add(resource); - } - if (step.getPath() != null) { - Path path = objectService.fetchObject(Path.class, step.getPath().getName()); - Set> resource = new HashSet<>(); - resource.add(path.getReference()); - copiedResources.add(resource); - } - newVehicle.withAllocatedResources(copiedResources); - if (step.getPath() == null) { actionExec(command); } else { @@ -546,7 +524,7 @@ public class LoopbackCommunicationAdapter ACTION_STATUS = true; //下发动作 - ExecuteAction.sendCmd(getProcessModel().getName(), command.getOperation(), getSerialNum()); + ExecuteAction.sendCmd(command.getTransportOrder().getName(), getProcessModel().getName(), getProcessModel().getPosition(), command.getOperation(), getSerialNum()); //进入阻塞 while (ACTION_STATUS) { @@ -893,13 +871,21 @@ public class LoopbackCommunicationAdapter //更新车辆姿态 if (params.getPoint() != 0) { - LAST_PASSED_POINT = params.getPoint().toString(); //记录最终经过点 +// LAST_PASSED_POINT = params.getPoint().toString(); //记录最终经过点 if (!Objects.equals(getProcessModel().getPosition(), params.getPoint().toString())) { - getProcessModel().setPosition(params.getPoint().toString()); //更新最终经过点 + initVehiclePosition(params.getPoint().toString()); //更新最终经过点 } + Pose oldPose = getProcessModel().getPose(); LAST_POSE = new Pose(new Triple(Math.round(params.getX() * 1000), Math.round(params.getY() * 1000), 0), params.getAngle()); - getProcessModel().setPose(LAST_POSE); + + if (oldPose.getPosition() == null) { //姿态为空,更新 + getProcessModel().setPose(LAST_POSE); + } else if (oldPose.getPosition().getX() != Math.round(params.getX() * 1000) + || oldPose.getPosition().getY() != Math.round(params.getY() * 1000) + || oldPose.getOrientationAngle() != params.getAngle()) { //姿态有变化,更新 + getProcessModel().setPose(LAST_POSE); + } } else { //最后经过点为0，应该是车辆丢失定位或重启过。todo 可能需要自动找点 } @@ -909,13 +895,19 @@ public class LoopbackCommunicationAdapter } //更新电量 - getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100)); + if (getProcessModel().getEnergyLevel() != Math.round(params.getPower() * 100)) { + getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100)); + } //更新车辆等级 - getProcessModel().integrationLevelChangeRequested(integrationLevel); + if (!Objects.equals(getProcessModel().getIntegrationLevel(), integrationLevel)) { + getProcessModel().integrationLevelChangeRequested(integrationLevel); + } //更新车辆状态 - getProcessModel().setState(vehicleState); + if (!Objects.equals(getProcessModel().getState(), vehicleState)) { + getProcessModel().setState(vehicleState); + } //更新载货状态 loadState = params.getCargo_status() == 1 ? LoadState.FULL : LoadState.EMPTY; @@ -926,8 +918,13 @@ public class LoopbackCommunicationAdapter return serialNum; } + /** + * 处理车辆动作执行状态 + * @param agvActionStatus 车辆动作执行状态对象 + */ private void handleActionStatus(AgvActionStatus agvActionStatus) { if (agvActionStatus.getStatus()) { +// System.out.println("handleActionStatus: ======"); ACTION_STATUS = false; } } diff --git a/opentcs-common/build.gradle b/opentcs-common/build.gradle index 1f9c0b8..f64821b 100644 --- a/opentcs-common/build.gradle +++ b/opentcs-common/build.gradle @@ -35,6 +35,8 @@ dependencies { implementation 'org.eclipse.paho:org.eclipse.paho.client.mqttv3:1.2.5' //JTS implementation 'org.locationtech.jts:jts-core:1.18.2' + // https://mvnrepository.com/artifact/org.locationtech.jts.io/jts-io-common +// implementation("org.locationtech.jts.io:jts-io-common:1.20.0") } processResources.doLast { diff --git a/opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/action/RequestAction.java b/opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/action/RequestAction.java index 1e96494..2544a0e 100644 --- a/opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/action/RequestAction.java +++ b/opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/action/RequestAction.java @@ -8,9 +8,17 @@ import lombok.Data; @Data public class RequestAction { + /** + * 订单名称 + */ + private String order_name; /** * 动作 */ private String action; + /** + * 当前位置 + */ + private String point; } diff --git a/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteAction.java b/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteAction.java index 7c1f176..d77b626 100644 --- a/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteAction.java +++ b/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteAction.java @@ -11,9 +11,13 @@ public class ExecuteAction extends BaseService { /** * 下发动作到平台 + * @param orderName 车辆名称 + * @param vehicleName 车辆名称 + * @param point 当前位置 * @param action 动作 + * @param serialNum 序列号 */ - public static void sendCmd(String vehicleName, String action, Integer serialNum) { + public static void sendCmd(String orderName, String vehicleName, String point, String action, Integer serialNum) { String url = getUrl(vehicleName); @@ -23,7 +27,9 @@ public class ExecuteAction extends BaseService { String time = now.format(formatter); RequestAction requestAction = new RequestAction(); + requestAction.setOrder_name(orderName); requestAction.setAction(action); + requestAction.setPoint(point); BaseRequestTo baseRequestTo = new BaseRequestTo( 4, diff --git a/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java b/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java index 004dbad..a500f6f 100644 --- a/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java +++ b/opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java @@ -177,7 +177,7 @@ public class ExecuteMove extends BaseService { */ private static Integer getDrivePose(org.opentcs.data.model.Path path) { String drivePost = path.getProperties().get(LoopbackAdapterConstants.AGV_DRIVE_POSE); - System.out.println("getDrivePose drivePost: " + drivePost); +// System.out.println("getDrivePose drivePost: " + drivePost); int pose = 0; if (drivePost == null) { diff --git a/opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java b/opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java index 9d62f7e..6b92260 100644 --- a/opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java +++ b/opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java @@ -84,18 +84,17 @@ public class AdapterManage { if (currentTime - value.getTime() > AUTO_CLOSE_TIME) { //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); +// agvStatus.setStatus(AdapterStatus.DISABLE); + adapterStatusMap.remove(key); + LOG.info("disable the adapter: {}", key); } else { //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); + //更新记录数据 + adapterStatusMap.put(key, agvStatus); + LOG.info("enable the adapter: {}", key); } - - LOG.info("update the adapter: {} status: {}", key, value); - - //更新记录数据 - adapterStatusMap.put(key, agvStatus); -// LOG.info("adapterStatusMap end name: {}", key); }); } diff --git a/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java b/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java index e81077b..843c713 100644 --- a/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java +++ b/opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java @@ -41,10 +41,6 @@ public class ContourAlgorithm { }; -// new BezierCurve() - - - return true; } diff --git a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/JsonBinder.java b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/JsonBinder.java index 9b8635c..924cc9b 100644 --- a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/JsonBinder.java +++ b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/JsonBinder.java @@ -7,6 +7,7 @@ import com.fasterxml.jackson.databind.ObjectMapper; import com.fasterxml.jackson.databind.SerializationFeature; import com.fasterxml.jackson.datatype.jsr310.JavaTimeModule; import java.io.IOException; +import java.util.HashMap; /** * Binds JSON strings to objects and vice versa. @@ -59,9 +60,14 @@ public class JsonBinder { public String toJson(Object object) throws IllegalStateException { try { + HashMap wrapper = new HashMap<>(); + wrapper.put("data", object); + wrapper.put("code", 200); + wrapper.put("message", "success"); + return objectMapper .writerWithDefaultPrettyPrinter() - .writeValueAsString(object); + .writeValueAsString(wrapper); } catch (JsonProcessingException exc) { throw new IllegalStateException("Could not produce JSON output", exc); diff --git a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/TransportOrderHandler.java b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/TransportOrderHandler.java index 56e108d..1ee2c32 100644 --- a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/TransportOrderHandler.java +++ b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/TransportOrderHandler.java @@ -32,6 +32,7 @@ import org.opentcs.kernel.extensions.servicewebapi.KernelExecutorWrapper; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetOrderSequenceResponseTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetTransportOrderResponseTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostOrderSequenceRequestTO; +import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderInfoRequestTo; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderRequestTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.posttransportorder.Destination; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.shared.Property; @@ -59,6 +60,40 @@ public class TransportOrderHandler { this.executorWrapper = requireNonNull(executorWrapper, "executorWrapper"); } + /** + * 根据WMS任务创建订单序列和运输订单 + * @param orderName 订单名称 +// * @param vehicleName 车辆名称 + * @param type 订单类型 + * @param destinations 位置信息 + * @return 创建的订单 + */ + public TransportOrder createWmsTask(String orderName, String type, List destinations){ + + //订单目标点结构体 + List destinationsList = new ArrayList<>(); + for (PostTransportOrderInfoRequestTo destination : destinations) { + Destination newDestination = new Destination(); + newDestination.setLocationName(destination.getLocationName()); + newDestination.setOperation(destination.getOperation()); + destinationsList.add(newDestination); + } + + //构建订单对象 + PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO(); + postTransportOrderRequestTO.setIncompleteName(false); + postTransportOrderRequestTO.setDispensable(false); + postTransportOrderRequestTO.setDeadline(Instant.now()); +// if (vehicleName != null) { +// postTransportOrderRequestTO.setIntendedVehicle(vehicleName); +// } + postTransportOrderRequestTO.setType(type); + postTransportOrderRequestTO.setDestinations(destinationsList); + + //创建运输订单 + return this.createOrder(orderName, postTransportOrderRequestTO); + } + public TransportOrder createOrder(String name, PostTransportOrderRequestTO order) throws ObjectUnknownException, ObjectExistsException, 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 3e45486..0fd8408 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 @@ -4,12 +4,14 @@ package org.opentcs.kernel.extensions.servicewebapi.v1; import static java.util.Objects.requireNonNull; +import com.alibaba.fastjson.JSON; import jakarta.inject.Inject; import java.util.List; import java.util.concurrent.ExecutionException; import org.opentcs.access.KernelRuntimeException; import org.opentcs.data.ObjectExistsException; import org.opentcs.data.ObjectUnknownException; +import org.opentcs.data.order.TransportOrder; import org.opentcs.kernel.extensions.servicewebapi.HttpConstants; import org.opentcs.kernel.extensions.servicewebapi.JsonBinder; import org.opentcs.kernel.extensions.servicewebapi.RequestHandler; @@ -22,6 +24,7 @@ import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PlantModelTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostOrderSequenceRequestTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostPeripheralJobRequestTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTopologyUpdateRequestTO; +import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderInfoRequestTo; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderRequestTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesRequestTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesResponseTO; @@ -293,6 +296,7 @@ public class V1RequestHandler request.body() ); return ""; +// return jsonBinder.toJson(""); } private Object handlePostDispatcherTrigger(Request request, Response response) @@ -370,14 +374,33 @@ public class V1RequestHandler IllegalArgumentException, IllegalStateException { response.type(HttpConstants.CONTENT_TYPE_APPLICATION_JSON_UTF8); - return jsonBinder.toJson( - GetTransportOrderResponseTO.fromTransportOrder( - transportOrderHandler.createOrder( - request.params(":NAME"), - jsonBinder.fromJson(request.body(), PostTransportOrderRequestTO.class) - ) - ) + +// return jsonBinder.toJson( +// GetTransportOrderResponseTO.fromTransportOrder( +// transportOrderHandler.createOrder( +// request.params(":NAME"), +// jsonBinder.fromJson(request.body(), PostTransportOrderRequestTO.class) +// ) +// ) +// ); + + //解析data + String type = JSON.parseObject(request.body()).getString("type"); + String destinations = JSON.parseObject(request.body()).getString("destinations"); + List dataList = JSON.parseArray(destinations, PostTransportOrderInfoRequestTo.class); + + //获取路由成本最低的车辆 +// String executeVehicle = vehicleHandler.getExecuteVehicle(dataList.getFirst().getPoint()); + + //创建订单 + TransportOrder wmsTask = transportOrderHandler.createWmsTask( + request.params(":NAME"), + type, + dataList ); + + //构建响应json + return jsonBinder.toJson(wmsTask); } private Object handlePutTransportOrderIntendedVehicle(Request request, Response response) @@ -429,7 +452,7 @@ public class V1RequestHandler ExecutionException { transportOrderHandler.putOrderSequenceComplete(request.params(":NAME")); response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8); - return ""; + return jsonBinder.toJson(""); } private Object handlePostImmediateAssignment(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 c36e908..c54f8d0 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 @@ -28,6 +28,7 @@ import org.opentcs.data.model.Vehicle.EnergyLevelThresholdSet; import org.opentcs.data.order.Route; import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription; import org.opentcs.drivers.vehicle.management.VehicleAttachmentInformation; +import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO; import org.opentcs.kernel.extensions.servicewebapi.KernelExecutorWrapper; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetVehicleResponseTO; import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesRequestTO; @@ -68,7 +69,7 @@ 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; @@ -86,6 +87,22 @@ public class VehicleHandler { throw new ObjectUnknownException("postReceiveCallback Unknown vehicle: " + name); } + VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference()); + if (!vehicleProcessModelTO.isCommAdapterEnabled()) { + //未开启通讯适配器，手动选择通讯适配器开启 + String adapterName = "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterDescription"; + VehicleCommAdapterDescription newAdapter + = vehicleService.fetchAttachmentInformation(vehicle.getReference()) + .getAvailableCommAdapters() + .stream() + .filter(description -> description.getClass().getName().equals(adapterName)) + .findAny() + .orElseThrow( + () -> new IllegalArgumentException("Unknown vehicle driver class name: " + adapterName) + ); + vehicleService.attachCommAdapter(vehicle.getReference(), newAdapter); + } + //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 @@ -99,6 +116,72 @@ public class VehicleHandler { } } + /** + * 获取执行成本最低车辆 + * @param destinationPoint 目标点 + * @return 车辆名称 + */ + public String getExecuteVehicle(String destinationPoint) { + + //获取所有车辆 + Set vehicles = vehicleService.fetchObjects(Vehicle.class); + //设置终点 + List destinationPointList = List.of(destinationPoint); + //记录最低路由成本 + long costs = 0; + //返回的车辆名称 + String vehicleName = null; + + for (Vehicle vehicle : vehicles) { + VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference()); + boolean commAdapterEnabled = vehicleProcessModelTO.isCommAdapterEnabled(); + + //校验车辆：通讯适配器状态、车辆状态、集成级别、订单 + if ( + !commAdapterEnabled || + vehicle.getState() != Vehicle.State.IDLE || + vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED || + vehicle.getTransportOrder() != null + ) { + //车辆不能执行任务直接获取下台车辆 + continue; + } + + //获取车辆当前位置设置为起点 + String sourcePoint = vehicle.getCurrentPosition().getName(); + + PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList); + postVehicleRoutesRequestTO.setSourcePoint(sourcePoint); + Map, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO); + + for (Map.Entry, Route> entry : vehicleRoutes.entrySet()) { +// TCSObjectReference key = entry.getKey(); + Route value = entry.getValue(); + + //判断成本值是否合规(为空或小于0不合规) + if (value == null || value.getCosts() < 0) { + continue; + } + + //比较成本，取成本低车辆名称 + if (vehicleName == null || costs > value.getCosts()) { + //记录数据 + costs = value.getCosts(); + vehicleName = vehicle.getName(); + } + } + } + + + if (vehicleName == null) { + //无空闲车辆需要创建订单无意向车辆订单 +// throw new IllegalArgumentException("无可用车辆"); + return ""; + } + + return vehicleName; + } + /** * Find all vehicles orders and filters depending on the given parameters. * diff --git a/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/binding/PostTransportOrderInfoRequestTo.java b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/binding/PostTransportOrderInfoRequestTo.java new file mode 100644 index 0000000..688b6c5 --- /dev/null +++ b/opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/binding/PostTransportOrderInfoRequestTo.java @@ -0,0 +1,43 @@ +package org.opentcs.kernel.extensions.servicewebapi.v1.binding; + +public class PostTransportOrderInfoRequestTo { + + private String locationName; + + private String point; + + private String operation; + + public String getLocationName() { + return locationName; + } + + public void setLocationName(String locationName) { + this.locationName = locationName; + } + + public String getPoint() { + return point; + } + + public void setPoint(String point) { + this.point = point; + } + + public String getOperation() { + return operation; + } + + public void setOperation(String operation) { + this.operation = operation; + } + + @Override + public String toString() { + return "PostTransportOrderInfoRequestTo{" + + "locationName='" + locationName + '\'' + + ", point='" + point + '\'' + + ", operation='" + operation + '\'' + + '}'; + } +} diff --git a/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java b/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java index 2df4348..ba03efd 100644 --- a/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java +++ b/opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java @@ -1032,6 +1032,14 @@ public class DefaultVehicleController Point currentVehiclePosition = originalCommand.getStep().getDestinationPoint(); Deque>> allocatedResources = commandProcessingTracker.getAllocatedResources(); + +// KernelApplicationConfiguration.VehicleResourceManagementType vehicleResourceManagementType +// = configuration.vehicleResourceManagementType(); +// System.out.println("vehicleResourceManagementType: " + vehicleResourceManagementType); +// +// long length = commAdapter.getProcessModel().getBoundingBox().getLength(); +// System.out.println("vehicle_length: " + length); + switch (configuration.vehicleResourceManagementType()) { case LENGTH_IGNORED: while (!allocatedResources.peek().contains(currentVehiclePosition)) { @@ -1044,11 +1052,13 @@ public class DefaultVehicleController case LENGTH_RESPECTED: // Free resources allocated for executed commands, but keep as many as needed for the // vehicle's current length. + long vehicleLeghtRadius = 3700 / 2; //车辆长度半径 + BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox().withLength(vehicleLeghtRadius); //长度有问题 int freeableResourceSetCount = ResourceMath.freeableResourceSetCount( SplitResources.from(allocatedResources, Set.of(currentVehiclePosition)) .getResourcesPassed(), - commAdapter.getProcessModel().getBoundingBox().getLength() + boundingBox.getLength() ); for (int i = 0; i < freeableResourceSetCount; i++) { Set> oldResources = allocatedResources.poll(); diff --git a/opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/TransportOrderPoolManager.java b/opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/TransportOrderPoolManager.java index e08d9fe..0b2e5f4 100644 --- a/opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/TransportOrderPoolManager.java +++ b/opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/TransportOrderPoolManager.java @@ -451,6 +451,7 @@ public class TransportOrderPoolManager throws ObjectUnknownException { TransportOrder order = getObjectRepo().getObject(TransportOrder.class, ref); // Make sure only orders in a final state are removed. + LOG.info("removeTransportOrder name: {}, state: {}", order.getName(), order.getState()); checkArgument( order.getState().isFinalState(), "Transport order %s is not in a final state.", diff --git a/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/OrderAssigner.java b/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/OrderAssigner.java index e8244f8..7f79346 100644 --- a/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/OrderAssigner.java +++ b/opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/OrderAssigner.java @@ -133,12 +133,12 @@ public class OrderAssigner { ); AssignmentState assignmentState = new AssignmentState(); - if (availableVehicles.size() < availableOrders.size()) { + if (availableVehicles.size() < availableOrders.size()) { //车数量 < 订单数 availableVehicles.stream() .sorted(vehicleComparator) .forEach(vehicle -> tryAssignOrder(vehicle, availableOrders, assignmentState)); } - else { + else { //车数量 >= 订单数 availableOrders.stream() .sorted(orderComparator) .forEach(order -> tryAssignVehicle(order, availableVehicles, assignmentState)); @@ -227,13 +227,25 @@ public class OrderAssigner { ) .collect(Collectors.partitioningBy(filterResult -> !filterResult.isFiltered())); +// // 调试输出：分组统计结果 +// System.out.println("Candidate groups: Passed=" + ordersSplitByFilter.get(Boolean.TRUE).size() + ", Filtered=" + ordersSplitByFilter.get(Boolean.FALSE).size()); +// +// // 调试输出：显示所有通过过滤的候选（排序前） +// List passedCandidates = ordersSplitByFilter.get(Boolean.TRUE).stream() +// .map(CandidateFilterResult::getCandidate) +// .collect(Collectors.toList()); +// +// passedCandidates.forEach(c -> System.out.println("passedCandidates - order: " + c.getTransportOrder() + ",vehicle:" + c.getVehicle() + ",Costs: " + c.getCompleteRoutingCosts())); + ordersSplitByFilter.get(Boolean.FALSE).stream() .map(CandidateFilterResult::toFilterResult) .forEach(filterResult -> assignmentState.addFilteredOrder(filterResult)); + ordersSplitByFilter.get(Boolean.TRUE).stream() .map(CandidateFilterResult::getCandidate) - .sorted(vehicleCandidateComparator) +// .sorted(vehicleCandidateComparator) 框架原本排序有问题,修改为按照路由成本排序 + .sorted(Comparator.comparingLong(AssignmentCandidate::getCompleteRoutingCosts)) .findFirst() .ifPresent(candidate -> assignOrder(candidate, assignmentState)); }