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

opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java

@@ -1032,6 +1032,14 @@ public class DefaultVehicleController
       Point currentVehiclePosition = originalCommand.getStep().getDestinationPoint();
       Deque<Set<TCSResource<?>>> 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<TCSResource<?>> oldResources = allocatedResources.poll();

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.",