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xuzhiheng 2025-07-01 21:38:15 +08:00
parent e6818275ab
commit f2241efc68
1 changed files with 29 additions and 11 deletions
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40
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
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@ -123,11 +123,11 @@ public class LoopbackCommunicationAdapter
/**
* 记录执行订单名称
*/
private static String ORDER_NAME;
private String ORDER_NAME;
/**
* 记录当前车辆位置
*/
private static String CURRENT_POS;
private String CURRENT_POS;
/**
* 订单任务key:记录当前订单执行的任务key
*/
@ -163,7 +163,10 @@ 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;
private final Boolean IS_AUTOMATIC_BREAKS = true;
//连接状态
private final Boolean CONNECT_STATUS = false;
/**
* Creates a new instance.
@ -343,7 +346,9 @@ public class LoopbackCommunicationAdapter
sourcePoint = cmd.getStep().getSourcePoint().getName();
//下发AGV移动指令
ExecuteMove.sendCmd(getProcessModel().getName(), cmd, getSerialNum());
if (CONNECT_STATUS) {
ExecuteMove.sendCmd(getProcessModel().getName(), cmd, getSerialNum());
}
}
// Start the simulation task if we're not in single step mode and not simulating already.
@ -493,17 +498,26 @@ public class LoopbackCommunicationAdapter
* @param command 命令
*/
private void startVehicleExec(MovementCommand command) {
LOG.debug("VEHICLE: {} BEGINS TO EXECUTE THE COMMAND: {}", getProcessModel().getName(),command);
LOG.info("车辆: {} 开始执行命令: {}", getProcessModel().getName(),command);
getProcessModel().setState(Vehicle.State.EXECUTING);
Step step = command.getStep();
if (step.getPath() == null) {
actionExec(command);
getExecutor().schedule(
() -> actionExec(command),
100,
TimeUnit.MILLISECONDS
);
} else {
// ExecuteOperation.setExecTaskKey(getProcessModel().getName(), TASK_KEY);
// TASK_KEY++;
LOG.info("车辆: {} 移动到: {}", getProcessModel().getName(),step.getDestinationPoint().getName());
//todo 移动
movementExec(command);
getExecutor().schedule(
() -> movementExec(command),
100,
TimeUnit.MILLISECONDS
);
}
}
@ -529,7 +543,9 @@ public class LoopbackCommunicationAdapter
ACTION_STATUS = true;
//下发动作
ExecuteAction.sendCmd(command.getTransportOrder().getWrappingSequence().getName(), getProcessModel().getName(), getProcessModel().getPosition(), command.getOperation(), getSerialNum());
if (CONNECT_STATUS) {
ExecuteAction.sendCmd(command.getTransportOrder().getWrappingSequence().getName(), getProcessModel().getName(), getProcessModel().getPosition(), command.getOperation(), getSerialNum());
}
//进入阻塞
while (ACTION_STATUS) {
@ -555,6 +571,7 @@ public class LoopbackCommunicationAdapter
String currentPosition = getProcessModel().getPosition();
if (currentPosition != null && currentPosition.equals(CURRENT_POS)) {
LOG.info("车辆: {} ,实际位置: {} ,记录位置: {}", vehicle.getName(), currentPosition, CURRENT_POS);
getExecutor().schedule(
() -> movementExec(command),
500,
@ -574,6 +591,7 @@ public class LoopbackCommunicationAdapter
private void finishCmd(MovementCommand command) {
if (Objects.equals(getSentCommands().peek(), command)) {
LOG.info("车辆: {} ,订单: {} ,命令: {} 结束", vehicle.getName(), command.getTransportOrder().getName(), command);
//清理任务队列
getProcessModel().commandExecuted(requireNonNull(getSentCommands().poll()));
} else {
@ -594,12 +612,12 @@ public class LoopbackCommunicationAdapter
}
private void startVehicleSimulation(MovementCommand command) {
LOG.debug("Starting vehicle simulation for command: {}", command);
LOG.info("Starting vehicle simulation for command: {}", command);
Step step = command.getStep();
getProcessModel().setState(Vehicle.State.EXECUTING);
if (step.getPath() == null) {
LOG.debug("Starting operation simulation...");
LOG.info("Starting operation simulation...");
getExecutor().schedule(
() -> operationSimulation(command, 0),
SIMULATION_PERIOD,
@ -616,7 +634,7 @@ public class LoopbackCommunicationAdapter
)
);
LOG.debug("Starting movement simulation...");
LOG.info("Starting movement simulation...");
getExecutor().schedule(
() -> movementSimulation(command),
SIMULATION_PERIOD,