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

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This commit is contained in:
魏红阳 2025-06-27 10:02:57 +08:00
commit d00b274b49
16 changed files with 294 additions and 56 deletions
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17
opentcs-api-base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java
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@ -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* Notifies observers that the vehicle would like to have its current transport order withdrawn.
*

47
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
View File

@ -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());
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
if (getProcessModel().getEnergyLevel() != Math.round(params.getPower() * 100)) {
getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100));
}
//更新车辆等级
if (!Objects.equals(getProcessModel().getIntegrationLevel(), integrationLevel)) {
getProcessModel().integrationLevelChangeRequested(integrationLevel);
}
//更新车辆状态
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;
}
}

2
opentcs-common/build.gradle
View File

@ -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 {

8
opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/action/RequestAction.java
View File

@ -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;
}

8
opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteAction.java
View File

@ -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,

2
opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java
View File

@ -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) {

11
opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java
View File

@ -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);
}
LOG.info("update the adapter: {} status: {}", key, value);
//更新记录数据
adapterStatusMap.put(key, agvStatus);
// LOG.info("adapterStatusMap end name: {}", key);
LOG.info("enable the adapter: {}", key);
}
});
}

4
opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java
View File

@ -41,10 +41,6 @@ public class ContourAlgorithm {
};
// new BezierCurve()
return true;
}

8
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/JsonBinder.java
View File

@ -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<String, Object> 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);

35
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/TransportOrderHandler.java
View File

@ -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<PostTransportOrderInfoRequestTo> destinations){
//订单目标点结构体
List<Destination> 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,

37
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java
View File

@ -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(
// 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<PostTransportOrderInfoRequestTo> 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"),
jsonBinder.fromJson(request.body(), PostTransportOrderRequestTO.class)
)
)
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)

85
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java
View File

@ -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<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
//设置终点
List<String> 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<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
// TCSObjectReference<Point> 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.
*

43
opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/binding/PostTransportOrderInfoRequestTo.java Normal file
View File

@ -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 + '\'' +
'}';
}
}

12
opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java
View File

@ -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();

1
opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/TransportOrderPoolManager.java
View File

@ -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.",

18
opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/OrderAssigner.java
View File

@ -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<AssignmentCandidate> 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));
}