update

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

@@ -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.
@@ -343,8 +346,10 @@ public class LoopbackCommunicationAdapter
       sourcePoint = cmd.getStep().getSourcePoint().getName();
 
       //下发AGV移动指令
+      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.
     if (!getProcessModel().isSingleStepModeEnabled()
@@ -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
+      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,