update
This commit is contained in:
xuzhiheng
parent
ec7e0fc699
commit
e6818275ab
@ -46,7 +46,7 @@ public class HttpClient {
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try (Response response = client.newCall(request).execute()) {
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return response.body().string();
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} catch (IOException e) {
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throw new RuntimeException("POST Request Failed", e);
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throw new RuntimeException("HTTP POST Request Failed", e);
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}
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}
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@ -181,9 +181,7 @@ public class ExecuteMove extends BaseService {
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*/
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public static boolean resetOrder(String vehicleName) {
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if (orderInfoMap.containsKey(vehicleName)) {
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orderInfoMap.remove(vehicleName);
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}
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orderInfoMap.remove(vehicleName);
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return true;
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}
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@ -84,6 +84,10 @@ public class ExecuteOperation extends BaseService{
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//获取订单ID
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Integer orderId = ExecuteMove.getOrderID(vehicleName);
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if (orderId == null) {
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return;
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}
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RequestB2 b2 = new RequestB2();
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b2.setAction_parallel_manner(2);
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@ -91,6 +91,9 @@ public class TransportOrderHandler {
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//构建订单对象
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PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
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postTransportOrderRequestTO.setIncompleteName(true);
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if (intendedVehicle != null) {
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postTransportOrderRequestTO.setIntendedVehicle(intendedVehicle);
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}
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postTransportOrderRequestTO.setDispensable(dispensable);
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postTransportOrderRequestTO.setDeadline(Instant.now());
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postTransportOrderRequestTO.setWrappingSequence(orderSequence.getName());
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@ -8,6 +8,8 @@ import jakarta.inject.Inject;
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import java.util.List;
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import java.util.concurrent.ExecutionException;
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import org.opentcs.access.KernelRuntimeException;
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import org.opentcs.communication.http.service.ExecuteMove;
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import org.opentcs.communication.http.service.ExecuteOperation;
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import org.opentcs.data.ObjectExistsException;
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import org.opentcs.data.ObjectUnknownException;
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import org.opentcs.kernel.extensions.servicewebapi.HttpConstants;
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@ -450,6 +452,11 @@ public class V1RequestHandler
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private Object handlePostWithdrawalByVehicle(Request request, Response response)
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throws ObjectUnknownException {
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//初始化动作状态
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vehicleHandler.initActionStatus(request.params(":NAME"));
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//根据车辆撤销任务
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orderDispatcherHandler.withdrawByVehicle(
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request.params(":NAME"),
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immediate(request),
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@ -468,6 +475,16 @@ public class V1RequestHandler
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private Object handlePostVehicleRerouteRequest(Request request, Response response)
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throws ObjectUnknownException {
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//清理车辆映射订单ID
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ExecuteMove.resetOrder(request.params(":NAME"));
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//可能会有动作阻塞，所以需要初始化动作状态
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vehicleHandler.initActionStatus(request.params(":NAME"));
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//撤销订单 todo 订单撤销后可能会有延时继续运动，所以应该考虑是否需要等待订单撤销成功
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// ExecuteOperation.cancelOrder(request.params(":NAME"));
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//立即重新路由
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orderDispatcherHandler.reroute(request.params(":NAME"), forced(request));
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response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
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return "";
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@ -110,77 +110,24 @@ public class VehicleHandler {
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vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
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} else if (type == 5) { //上报动作完成
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//动作完成上报
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AgvActionStatus agvActionStatus = new AgvActionStatus();
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agvActionStatus.setStatus(true);
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vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
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initActionStatus(name);
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// AgvActionStatus agvActionStatus = new AgvActionStatus();
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// agvActionStatus.setStatus(true);
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// vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
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}
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}
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// /**
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// * 获取执行成本最低车辆
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// * @param destinationPoint 目标点
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// * @return 车辆名称
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// */
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// public String getExecuteVehicle(String destinationPoint) {
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//
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// //获取所有车辆
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// Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
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// //设置终点
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// List<String> destinationPointList = List.of(destinationPoint);
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// //记录最低路由成本
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// long costs = 0;
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// //返回的车辆名称
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// String vehicleName = null;
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//
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// for (Vehicle vehicle : vehicles) {
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// VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
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// boolean commAdapterEnabled = vehicleProcessModelTO.isCommAdapterEnabled();
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//
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// //校验车辆：通讯适配器状态、车辆状态、集成级别、订单
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// if (
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// !commAdapterEnabled ||
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// vehicle.getState() != Vehicle.State.IDLE ||
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// vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED ||
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// vehicle.getTransportOrder() != null
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// ) {
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// //车辆不能执行任务直接获取下台车辆
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// continue;
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// }
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//
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// //获取车辆当前位置设置为起点
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// String sourcePoint = vehicle.getCurrentPosition().getName();
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//
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// PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList);
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// postVehicleRoutesRequestTO.setSourcePoint(sourcePoint);
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// Map<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
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//
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// for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
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//// TCSObjectReference<Point> key = entry.getKey();
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// Route value = entry.getValue();
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//
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// //判断成本值是否合规(为空或小于0不合规)
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// if (value == null || value.getCosts() < 0) {
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// continue;
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// }
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//
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// //比较成本，取成本低车辆名称
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// if (vehicleName == null || costs > value.getCosts()) {
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// //记录数据
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// costs = value.getCosts();
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// vehicleName = vehicle.getName();
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// }
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// }
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// }
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//
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//
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// if (vehicleName == null) {
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// //无空闲车辆需要创建订单无意向车辆订单
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//// throw new IllegalArgumentException("无可用车辆");
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// return "";
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// }
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//
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// return vehicleName;
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// }
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/**
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* 初始化动作完成状态
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* @param name 车辆名称
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*/
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public void initActionStatus(String name) {
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Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
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AgvActionStatus agvActionStatus = new AgvActionStatus();
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agvActionStatus.setStatus(true);
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vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
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}
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/**
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* Find all vehicles orders and filters depending on the given parameters.
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@ -14,7 +14,8 @@ kernelapp.rerouteOnDriveOrderFinished = false
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kernelapp.vehicleResourceManagementType = LENGTH_RESPECTED
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orderpool.sweepInterval = 60000
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orderpool.sweepAge = 86400000
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orderpool.sweepAge = 60000
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#orderpool.sweepAge = 86400000
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rmikernelinterface.enable = true
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rmikernelinterface.useSsl = false
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