update

opentcs-common/src/main/java/org/opentcs/communication/http/HttpClient.java

@@ -46,7 +46,7 @@ public class HttpClient {
     try (Response response = client.newCall(request).execute()) {
       return response.body().string();
     } catch (IOException e) {
-      throw new RuntimeException("POST Request Failed", e);
+      throw new RuntimeException("HTTP POST Request Failed", e);
     }
   }
 

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

@@ -181,9 +181,7 @@ public class ExecuteMove extends BaseService {
    */
   public static boolean resetOrder(String vehicleName) {
 
-    if (orderInfoMap.containsKey(vehicleName)) {
+    orderInfoMap.remove(vehicleName);
-      orderInfoMap.remove(vehicleName);
-    }
 
     return true;
   }

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

@@ -84,6 +84,10 @@ public class ExecuteOperation extends BaseService{
     //获取订单ID
     Integer orderId = ExecuteMove.getOrderID(vehicleName);
 
+    if (orderId == null) {
+      return;
+    }
+
     RequestB2 b2 = new RequestB2();
 
     b2.setAction_parallel_manner(2);

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

@@ -91,6 +91,9 @@ public class TransportOrderHandler {
     //构建订单对象
     PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
     postTransportOrderRequestTO.setIncompleteName(true);
+    if (intendedVehicle != null) {
+      postTransportOrderRequestTO.setIntendedVehicle(intendedVehicle);
+    }
     postTransportOrderRequestTO.setDispensable(dispensable);
     postTransportOrderRequestTO.setDeadline(Instant.now());
     postTransportOrderRequestTO.setWrappingSequence(orderSequence.getName());

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

@@ -8,6 +8,8 @@ import jakarta.inject.Inject;
 import java.util.List;
 import java.util.concurrent.ExecutionException;
 import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.communication.http.service.ExecuteMove;
+import org.opentcs.communication.http.service.ExecuteOperation;
 import org.opentcs.data.ObjectExistsException;
 import org.opentcs.data.ObjectUnknownException;
 import org.opentcs.kernel.extensions.servicewebapi.HttpConstants;
@@ -450,6 +452,11 @@ public class V1RequestHandler
 
   private Object handlePostWithdrawalByVehicle(Request request, Response response)
       throws ObjectUnknownException {
+
+    //初始化动作状态
+    vehicleHandler.initActionStatus(request.params(":NAME"));
+
+    //根据车辆撤销任务
     orderDispatcherHandler.withdrawByVehicle(
         request.params(":NAME"),
         immediate(request),
@@ -468,6 +475,16 @@ public class V1RequestHandler
 
   private Object handlePostVehicleRerouteRequest(Request request, Response response)
       throws ObjectUnknownException {
+    //清理车辆映射订单ID
+    ExecuteMove.resetOrder(request.params(":NAME"));
+
+    //可能会有动作阻塞，所以需要初始化动作状态
+    vehicleHandler.initActionStatus(request.params(":NAME"));
+
+    //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
+//    ExecuteOperation.cancelOrder(request.params(":NAME"));
+
+    //立即重新路由
     orderDispatcherHandler.reroute(request.params(":NAME"), forced(request));
     response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
     return "";

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

@@ -110,77 +110,24 @@ public class VehicleHandler {
       vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
     } else if (type == 5) {   //上报动作完成
       //动作完成上报
-      AgvActionStatus agvActionStatus = new AgvActionStatus();
+      initActionStatus(name);
-      agvActionStatus.setStatus(true);
+//      AgvActionStatus agvActionStatus = new AgvActionStatus();
-      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
+//      agvActionStatus.setStatus(true);
+//      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
     }
   }
 
-//  /**
+  /**
-//   * 获取执行成本最低车辆
+   * 初始化动作完成状态
-//   * @param destinationPoint 目标点
+   * @param name 车辆名称
-//   * @return 车辆名称
+   */
-//   */
+  public void initActionStatus(String name) {
-//  public String getExecuteVehicle(String destinationPoint) {
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
-//
+    AgvActionStatus agvActionStatus = new AgvActionStatus();
-//    //获取所有车辆
+    agvActionStatus.setStatus(true);
-//    Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
+    vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
-//    //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.

opentcs-kernel/src/main/resources/org/opentcs/kernel/distribution/config/opentcs-kernel-defaults-baseline.properties

@@ -14,7 +14,8 @@ kernelapp.rerouteOnDriveOrderFinished = false
 kernelapp.vehicleResourceManagementType = LENGTH_RESPECTED
 
 orderpool.sweepInterval = 60000
-orderpool.sweepAge = 86400000
+orderpool.sweepAge = 60000
+#orderpool.sweepAge = 86400000
 
 rmikernelinterface.enable = true
 rmikernelinterface.useSsl = false