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

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

@@ -162,6 +162,9 @@ public class LoopbackCommunicationAdapter
 
   private final Router router;
 
+  //标记是否开启自动回休息点：true=开启，false=关闭
+  private final Boolean IS_AUTOMATIC_BREAKS = false;
+
   /**
    * Creates a new instance.
    *
@@ -212,21 +215,23 @@ public class LoopbackCommunicationAdapter
     }
     super.initialize();
 
-    // 注册属性变化监听器
+    if (IS_AUTOMATIC_BREAKS) {
-    getProcessModel().addPropertyChangeListener(evt -> {
+      // 注册属性变化监听器
-      if (evt.getPropertyName().equals(VehicleProcessModel.Attribute.ENERGY_LEVEL.name())) {
+      getProcessModel().addPropertyChangeListener(evt -> {
-        LOG.info("Vehicle energy level changed to: {}", evt.getNewValue());
+        if (evt.getPropertyName().equals(VehicleProcessModel.Attribute.ENERGY_LEVEL.name())) {
-        checkChargingNeed();
+          LOG.info("Vehicle energy level changed to: {}", evt.getNewValue());
-      }
+          checkChargingNeed();
-      // 直接检查命令队列状态，不依赖特定属性名
+        }
-      if (getSentCommands().isEmpty() && getUnsentCommands().isEmpty()) {
+        // 直接检查命令队列状态，不依赖特定属性名
-        LOG.debug("All commands executed, checking for parking position...");
+        if (getSentCommands().isEmpty() && getUnsentCommands().isEmpty()) {
-        LOG.info("Found parking positions: {}", findAllParkingPositions().stream()
+          LOG.debug("All commands executed, checking for parking position...");
-            .map(Point::getName)
+          LOG.info("Found parking positions: {}", findAllParkingPositions().stream()
-            .collect(Collectors.joining(", ")));
+              .map(Point::getName)
-        checkAndMoveToParkingPosition();
+              .collect(Collectors.joining(", ")));
-      }
+          checkAndMoveToParkingPosition();
-    });
+        }
+      });
+    }
 
     String initialPos
         = vehicle.getProperties().get(LoopbackAdapterConstants.PROPKEY_INITIAL_POSITION);
@@ -524,7 +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/common/GuestUserCredentials.java

@@ -23,4 +23,8 @@ public interface GuestUserCredentials {
    * 内核开放端口
    */
   Integer PORT = 1099;
+  /**
+   * WMS系统地址
+   */
+  String WMS_URL = "http://192.168.124.114:2004/api/project.yueda.agv.agv/updateAgvTaskDevice";
 }

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

@@ -4,6 +4,7 @@ package org.opentcs.kernel.extensions.servicewebapi.v1;
 
 import static java.util.Objects.requireNonNull;
 
+import com.alibaba.fastjson.JSON;
 import jakarta.annotation.Nullable;
 import jakarta.inject.Inject;
 import java.time.Instant;
@@ -62,36 +63,55 @@ 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 vehicleName 车辆名称
+   * @param body 结构体
-   * @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){
+  public List<TransportOrder> createWmsTask(String name, String body){
 
-    //订单目标点结构体
+    //解析data
-    List<Destination> destinationsList = new ArrayList<>();
+    String type = JSON.parseObject(body).getString("type");
-    for (PostTransportOrderInfoRequestTo destination : destinations) {
+    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);
+
+    //构建订单序列
+    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
+    //设置订单序列完整性，自动完成订单
-    PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
+    this.putOrderSequenceComplete(name);
-    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 orders;
-    return this.createOrder(orderName, postTransportOrderRequestTO);
   }
 
   public TransportOrder createOrder(String name, PostTransportOrderRequestTO order)

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

@@ -4,28 +4,23 @@ 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;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetOrderSequenceResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetPeripheralAttachmentInfoResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetPeripheralJobResponseTO;
-import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetTransportOrderResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetVehicleAttachmentInfoResponseTO;
 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;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleAllowedOrderTypesTO;
@@ -375,32 +370,12 @@ public class V1RequestHandler
         IllegalStateException {
     response.type(HttpConstants.CONTENT_TYPE_APPLICATION_JSON_UTF8);
 
-//    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"),
-        type,
-        dataList
-    );
-
     //构建响应json
-    return jsonBinder.toJson(wmsTask);
+    return jsonBinder.toJson(
+        transportOrderHandler.createWmsTask(
+        request.params(":NAME"),
+        request.body()
+    ));
   }
 
   private Object handlePutTransportOrderIntendedVehicle(Request request, Response response)

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

@@ -116,71 +116,71 @@ public class VehicleHandler {
     }
   }
 
-  /**
+//  /**
-   * 获取执行成本最低车辆
+//   * 获取执行成本最低车辆
-   * @param destinationPoint 目标点
+//   * @param destinationPoint 目标点
-   * @return 车辆名称
+//   * @return 车辆名称
-   */
+//   */
-  public String getExecuteVehicle(String destinationPoint) {
+//  public String getExecuteVehicle(String destinationPoint) {
-
+//
-    //获取所有车辆
+//    //获取所有车辆
-    Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
+//    Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
-    //设置终点
+//    //设置终点
-    List<String> destinationPointList = List.of(destinationPoint);
+//    List<String> destinationPointList = List.of(destinationPoint);
-    //记录最低路由成本
+//    //记录最低路由成本
-    long costs = 0;
+//    long costs = 0;
-    //返回的车辆名称
+//    //返回的车辆名称
-    String vehicleName = null;
+//    String vehicleName = null;
-
+//
-    for (Vehicle vehicle : vehicles) {
+//    for (Vehicle vehicle : vehicles) {
-      VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
+//      VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
-      boolean commAdapterEnabled = vehicleProcessModelTO.isCommAdapterEnabled();
+//      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
+//      //校验车辆：通讯适配器状态、车辆状态、集成级别、订单
-      if (
+//      if (
-          !commAdapterEnabled ||
+//          !commAdapterEnabled ||
-          vehicle.getState() != Vehicle.State.IDLE ||
+//          vehicle.getState() != Vehicle.State.IDLE ||
-          vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED ||
+//          vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED ||
-          vehicle.getTransportOrder() != null
+//          vehicle.getTransportOrder() != null
-      ) {
+//      ) {
-        //车辆不能执行任务直接获取下台车辆
+//        //车辆不能执行任务直接获取下台车辆
-        continue;
+//        continue;
-      }
+//      }
-
+//
-      //获取车辆当前位置设置为起点
+//      //获取车辆当前位置设置为起点
-      String sourcePoint = vehicle.getCurrentPosition().getName();
+//      String sourcePoint = vehicle.getCurrentPosition().getName();
-
+//
-      PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList);
+//      PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList);
-      postVehicleRoutesRequestTO.setSourcePoint(sourcePoint);
+//      postVehicleRoutesRequestTO.setSourcePoint(sourcePoint);
-      Map<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
+//      Map<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
-
+//
-      for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
+//      for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
-//        TCSObjectReference<Point> key = entry.getKey();
+////        TCSObjectReference<Point> key = entry.getKey();
-        Route value = entry.getValue();
+//        Route value = entry.getValue();
-
+//
-        //判断成本值是否合规(为空或小于0不合规)
+//        //判断成本值是否合规(为空或小于0不合规)
-        if (value == null || value.getCosts() < 0) {
+//        if (value == null || value.getCosts() < 0) {
-          continue;
+//          continue;
-        }
+//        }
-
+//
-        //比较成本，取成本低车辆名称
+//        //比较成本，取成本低车辆名称
-        if (vehicleName == null || costs > value.getCosts()) {
+//        if (vehicleName == null || costs > value.getCosts()) {
-          //记录数据
+//          //记录数据
-          costs = value.getCosts();
+//          costs = value.getCosts();
-          vehicleName = vehicle.getName();
+//          vehicleName = vehicle.getName();
-        }
+//        }
-      }
+//      }
-    }
+//    }
-
+//
-
+//
-    if (vehicleName == null) {
+//    if (vehicleName == null) {
-      //无空闲车辆需要创建订单无意向车辆订单
+//      //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");
+////      throw new IllegalArgumentException("无可用车辆");
-      return "";
+//      return "";
-    }
+//    }
-
+//
-    return vehicleName;
+//    return vehicleName;
-  }
+//  }
 
   /**
    * Find all vehicles orders and filters depending on the given parameters.

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/TransportOrderUtil.java

@@ -356,8 +356,12 @@ public class TransportOrderUtil
     // vehicle reports the remaining movements as finished.
     updateTransportOrderState(order.getReference(), TransportOrder.State.WITHDRAWN);
 
-    //撤销订单
+    //撤销订单,获取订单状态
-    ExecuteOperation.cancelOrder(vehicle.getName());
+    TransportOrder.State state = order.getState();
+    if (state == TransportOrder.State.BEING_PROCESSED) {
+      //订单执行中，需要撤销下发给控制器的任务
+      ExecuteOperation.cancelOrder(vehicle.getName());
+    }
 
     VehicleController vehicleController
         = vehicleControllerPool.getVehicleController(vehicle.getName());

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

@@ -7,11 +7,14 @@ import static java.util.Objects.requireNonNull;
 import jakarta.inject.Inject;
 import java.util.Collection;
 import java.util.Comparator;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
 import java.util.Optional;
 import java.util.stream.Collectors;
+import org.opentcs.common.GuestUserCredentials;
+import org.opentcs.communication.http.HttpClient;
 import org.opentcs.components.kernel.Router;
 import org.opentcs.components.kernel.services.TCSObjectService;
 import org.opentcs.data.model.Point;
@@ -194,6 +197,22 @@ public class OrderAssigner {
         .sorted(orderCandidateComparator)
         .findFirst()
         .ifPresent(candidate -> assignOrder(candidate, assignmentState));
+
+    AssignmentCandidate assignmentCandidate = ordersSplitByFilter.get(Boolean.TRUE).stream()
+        .map(CandidateFilterResult::getCandidate)
+        .sorted(orderCandidateComparator)
+        .findFirst().orElse(null);
+
+    if (assignmentCandidate != null
+        && assignmentCandidate.getTransportOrder().getWrappingSequence() != null) {
+      //已分配车辆，调用接口告诉wms系统
+      HashMap<String, String> dataMap = new HashMap<>();
+      dataMap.put("task_code", assignmentCandidate.getTransportOrder().getWrappingSequence().getName());
+      dataMap.put("vehicle_name", vehicle.getName());
+
+      HttpClient httpClient = new HttpClient();
+      httpClient.sendCommand(GuestUserCredentials.WMS_URL, dataMap);
+    }
   }
 
   private void tryAssignVehicle(
@@ -248,6 +267,23 @@ public class OrderAssigner {
         .sorted(Comparator.comparingLong(AssignmentCandidate::getCompleteRoutingCosts))
         .findFirst()
         .ifPresent(candidate -> assignOrder(candidate, assignmentState));
+
+    AssignmentCandidate assignmentCandidate = ordersSplitByFilter.get(Boolean.TRUE).stream()
+        .map(CandidateFilterResult::getCandidate)
+        .sorted(Comparator.comparingLong(AssignmentCandidate::getCompleteRoutingCosts))
+        .findFirst().orElse(null);
+
+    if (assignmentCandidate != null
+        && assignmentCandidate.getVehicle() != null
+        && order.getWrappingSequence() != null) {
+      //已分配车辆，调用接口告诉wms系统
+      HashMap<String, String> dataMap = new HashMap<>();
+      dataMap.put("task_code", order.getWrappingSequence().getName());
+      dataMap.put("vehicle_name", assignmentCandidate.getVehicle().getName());
+
+      HttpClient httpClient = new HttpClient();
+      httpClient.sendCommand(GuestUserCredentials.WMS_URL, dataMap);
+    }
   }
 
   private void assignOrder(AssignmentCandidate candidate, AssignmentState assignmentState) {