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Merge branch 'new_opentcs' of http://git.picaiba.com/agv/opentcs into new_opentcs

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魏红阳
2025-06-27 10:02:57 +08:00
parent dc19bb01b2 c8c91b12f4
commit d00b274b49
16 changed files with 294 additions and 56 deletions
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55
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
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@@ -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<Set<TCSResourceReference<?>>> allocatedResources = newVehicle.getAllocatedResources();
//使用副本更新车辆模型，防止异常情况
List<Set<TCSResourceReference<?>>> 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<TCSResourceReference<?>> resource = new HashSet<>();
resource.add(point.getReference());
copiedResources.add(resource);
}
if (step.getPath() != null) {
Path path = objectService.fetchObject(Path.class, step.getPath().getName());
Set<TCSResourceReference<?>> 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;
}
}