update

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

@@ -343,7 +343,7 @@ public class LoopbackCommunicationAdapter
       sourcePoint = cmd.getStep().getSourcePoint().getName();
 
       //下发AGV移动指令
-//      ExecuteMove.sendCmd(getProcessModel().getName(), cmd, getSerialNum());
+      ExecuteMove.sendCmd(getProcessModel().getName(), cmd, getSerialNum());
     }
 
     // Start the simulation task if we're not in single step mode and not simulating already.
@@ -529,7 +529,7 @@ public class LoopbackCommunicationAdapter
       ACTION_STATUS = true;
 
       //下发动作
-      ExecuteAction.sendCmd(command.getTransportOrder().getName(), getProcessModel().getName(), getProcessModel().getPosition(), command.getOperation(), getSerialNum());
+      ExecuteAction.sendCmd(command.getTransportOrder().getWrappingSequence().getName(), getProcessModel().getName(), getProcessModel().getPosition(), command.getOperation(), getSerialNum());
 
       //进入阻塞
       while (ACTION_STATUS) {

opentcs-common/src/main/java/org/opentcs/communication/http/service/BaseService.java

@@ -20,7 +20,7 @@ public class BaseService {
    * 生成进程内唯一的int型ID
    * 优点：简单高效
    * 限制：
-   *   - 重启后可能重复
+   *   - 重启后可能重复,但数据是内存中存在，重启即销毁
    *   - 超过21亿后会回绕（正常应用很难达到）
    */
   public static int generate() {

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

@@ -11,13 +11,13 @@ public class ExecuteAction extends BaseService {
 
   /**
    * 下发动作到平台
-   * @param orderName 车辆名称
+   * @param name 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 orderName, String vehicleName, String point, String action, Integer serialNum) {
+  public static void sendCmd(String name, String vehicleName, String point, String action, Integer serialNum) {
 
     String url = getUrl(vehicleName);
 
@@ -27,7 +27,7 @@ public class ExecuteAction extends BaseService {
     String time = now.format(formatter);
 
     RequestAction requestAction = new RequestAction();
-    requestAction.setOrder_name(orderName);
+    requestAction.setOrder_name(name);
     requestAction.setAction(action);
     requestAction.setPoint(point);
 

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

@@ -169,7 +169,23 @@ public class ExecuteMove extends BaseService {
    * 获取当前订单ID
    */
   public static Integer getOrderID(String vehicleName) {
-    return orderInfoMap.get(vehicleName).getId();
+
+    if (orderInfoMap.containsKey(vehicleName)) {
+      return orderInfoMap.get(vehicleName).getId();
+    }
+    return null;
+  }
+
+  /**
+   * 清理对应订单，实现平台接管后继续执行订单
+   */
+  public static boolean resetOrder(String vehicleName) {
+
+    if (orderInfoMap.containsKey(vehicleName)) {
+      orderInfoMap.remove(vehicleName);
+    }
+
+    return true;
   }
 
   /**

opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java

@@ -154,6 +154,7 @@ public class AdapterManage {
     agvInfoParams.setAgv_model(params.getInteger("agv_model"));
     agvInfoParams.setCharge_status(params.getInteger("charge_status"));
     agvInfoParams.setAction_status(params.getInteger("action_status"));
+    agvInfoParams.setOrder_id(params.getInteger("order_id"));
 
     return agvInfoParams;
   }

opentcs-common/src/main/java/org/opentcs/manage/entity/AgvInfoParams.java

@@ -52,4 +52,8 @@ public class AgvInfoParams {
    * 执行动作状态：1=完成，2=执行中
    */
   private Integer action_status;
+  /**
+   * 控制器最后执行订单ID，id=0即为未创建任务
+   */
+  private Integer order_id;
 }

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

@@ -63,41 +63,52 @@ public class TransportOrderHandler {
 
   /**
    * 根据WMS任务创建订单序列和运输订单
-   * @param orderName 订单名称
+   * @param name 订单序列名称
    * @param body 结构体
    * @return 创建的订单
    */
-  public TransportOrder createWmsTask(String orderName, String body){
+  public List<TransportOrder> createWmsTask(String name, String body){
 
     //解析data
     String type = JSON.parseObject(body).getString("type");
     String intendedVehicle = JSON.parseObject(body).getString("intendedVehicle") != null ? JSON.parseObject(body).getString("intendedVehicle") : null;
     Boolean dispensable = JSON.parseObject(body).getBoolean("dispensable") != null ? JSON.parseObject(body).getBoolean("dispensable") : false;
+//    String wrappingSequence = JSON.parseObject(body).getString("wrappingSequence") != null ? JSON.parseObject(body).getString("wrappingSequence") : null;
     String destinationsStr = JSON.parseObject(body).getString("destinations");
     List<PostTransportOrderInfoRequestTo> dataList = JSON.parseArray(destinationsStr, PostTransportOrderInfoRequestTo.class);
 
-    //订单目标点结构体
+    //构建订单序列
-    List<Destination> destinationsList = new ArrayList<>();
+    PostOrderSequenceRequestTO postOrderSequenceRequestTO = new PostOrderSequenceRequestTO();
+    postOrderSequenceRequestTO.setIncompleteName(false);
+    if (intendedVehicle != null) {
+      postOrderSequenceRequestTO.setIntendedVehicle(intendedVehicle);
+    }
+    postOrderSequenceRequestTO.setType(type);
+    postOrderSequenceRequestTO.setFailureFatal(true);
+    //根据传入名称创建订单序列
+    OrderSequence orderSequence = this.createOrderSequence(name, postOrderSequenceRequestTO);
+
+    //构建订单对象
+    PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
+    postTransportOrderRequestTO.setIncompleteName(true);
+    postTransportOrderRequestTO.setDispensable(dispensable);
+    postTransportOrderRequestTO.setDeadline(Instant.now());
+    postTransportOrderRequestTO.setWrappingSequence(orderSequence.getName());
+    postTransportOrderRequestTO.setType(type);
+    //根据传入点位创建多个订单
+    List<TransportOrder> orders = new ArrayList<>();
     for (PostTransportOrderInfoRequestTo destination : dataList) {
+      List<Destination> destinationsList = new ArrayList<>();
       Destination newDestination = new Destination();
       newDestination.setLocationName(destination.getLocationName());
       newDestination.setOperation(destination.getOperation());
       destinationsList.add(newDestination);
+      postTransportOrderRequestTO.setDestinations(destinationsList);
+      TransportOrder order = this.createOrder("", postTransportOrderRequestTO);
+      orders.add(order);
     }
 
-    //构建订单对象
+    return orders;
-    PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
-    postTransportOrderRequestTO.setIncompleteName(false);
-    postTransportOrderRequestTO.setDispensable(dispensable);
-    postTransportOrderRequestTO.setDeadline(Instant.now());
-    if (intendedVehicle != null) {
-      postTransportOrderRequestTO.setIntendedVehicle(intendedVehicle);
-    }
-    postTransportOrderRequestTO.setType(type);
-    postTransportOrderRequestTO.setDestinations(destinationsList);
-
-    //创建运输订单
-    return this.createOrder(orderName, postTransportOrderRequestTO);
   }
 
   public TransportOrder createOrder(String name, PostTransportOrderRequestTO order)