update

gradle/guice-project.gradle

@@ -19,7 +19,7 @@ ext.guiceSrcDir = sourceSets.guiceConfig.java.srcDirs[0]
 
 compileGuiceConfigJava {
   options.release = 21
-  options.compilerArgs << "-Werror"
+//  options.compilerArgs << "-Werror"
   options.compilerArgs << "-Xlint:all"
   options.compilerArgs << "-Xlint:-serial"
 }

gradle/java-project.gradle

@@ -35,14 +35,14 @@ dependencies {
 
 compileJava {
   options.release = 21
-  options.compilerArgs << "-Werror"
+//  options.compilerArgs << "-Werror"
   options.compilerArgs << "-Xlint:all"
   options.compilerArgs << "-Xlint:-serial"
 }
 
 compileTestJava {
   options.release = 21
-  options.compilerArgs << "-Werror"
+//  options.compilerArgs << "-Werror"
   options.compilerArgs << "-Xlint:all"
   options.compilerArgs << "-Xlint:-serial"
 }

opentcs-api-base/build.gradle

@@ -8,3 +8,11 @@ apply from: "${rootDir}/gradle/publishing-java.gradle"
 task release {
   dependsOn build
 }
+
+tasks.withType(JavaCompile){
+  options.encoding="utf-8"
+}
+
+tasks.withType(Javadoc){
+  options.encoding="utf-8"
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteVehicleService.java

@@ -109,4 +109,11 @@ public interface RemoteVehicleService
   )
       throws RemoteException;
   // CHECKSTYLE:ON
+
+  void receiveCallback(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      Object data
+  )
+      throws RemoteException;
 }

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalVehicleService.java

@@ -29,7 +29,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's energy level.
-   * 更新车辆的能级。
+   * 更新车辆的能级.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param energyLevel The vehicle's new energy level.
@@ -40,7 +40,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's load handling devices.
-   * 更新车辆的负载处理设备。
+   * 更新车辆的负载处理设备.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param devices The vehicle's new load handling devices.
@@ -68,7 +68,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's order sequence.
-   * 更新车辆的订单序列。
+   * 更新车辆的订单序列.
    *
    * @param vehicleRef A reference to the vehicle to be modified.
    * @param sequenceRef A reference to the order sequence the vehicle processes.
@@ -83,7 +83,7 @@ public interface InternalVehicleService
   /**
    * Updates the vehicle's current orientation angle (-360..360 degrees, or {@link Double#NaN}, if
    * the vehicle doesn't provide an angle).
-   * 如果车辆不提供角度，则更新车辆的当前方向角（-360..360度，或{@link double}，如果车辆不提供角度）。
+   * 如果车辆不提供角度，则更新车辆的当前方向角（-360..360度，或{@link double}，如果车辆不提供角度）.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param angle The vehicle's orientation angle.
@@ -97,7 +97,7 @@ public interface InternalVehicleService
 
   /**
    * Places a vehicle on a point.
-   * 将车辆放在一个点上。
+   * 将车辆放在一个点上.
    *
    * @param vehicleRef A reference to the vehicle to be modified.
    * @param pointRef A reference to the point on which the vehicle is to be placed.
@@ -125,7 +125,7 @@ public interface InternalVehicleService
 
   /**
    * Updates the vehicle's pose.
-   * 更新车辆的姿势。
+   * 更新车辆的姿势.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param pose The vehicle's new pose.
@@ -143,7 +143,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's processing state.
-   * 更新车辆的处理状态。
+   * 更新车辆的处理状态.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param state The vehicle's new processing state.
@@ -154,7 +154,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's recharge operation.
-   * 更新车辆的充电操作。
+   * 更新车辆的充电操作.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param rechargeOperation The vehicle's new recharge action.
@@ -165,7 +165,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's claimed resources.
-   * 更新车辆声称的资源。
+   * 更新车辆生成的资源。
    *
    * @param ref A reference to the vehicle to be modified.
    * @param resources The new resources.
@@ -179,7 +179,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's allocated resources.
-   * 更新车辆分配的资源。
+   * 更新车辆已分配的资源.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param resources The new resources.
@@ -193,7 +193,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's state.
-   * 更新车辆的状态。
+   * Update Vehicle Status
    *
    * @param ref A reference to the vehicle to be modified.
    * @param state The vehicle's new state.
@@ -204,7 +204,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's length.
-   * 更新车辆的长度。
+   * 更新车辆长度.
    *
    * @param ref A reference to the vehicle to be modified.
    * @param length The vehicle's new length.
@@ -218,7 +218,7 @@ public interface InternalVehicleService
 
   /**
    * Updates the vehicle's bounding box.
-   * 更新车辆的边界框。
+   * 更新车辆的边界框.
    *
    * @param ref A reference to the vehicle.
    * @param boundingBox The vehicle's new bounding box (in mm).
@@ -234,7 +234,7 @@ public interface InternalVehicleService
 
   /**
    * Updates a vehicle's transport order.
-   * 更新车辆的运输订单。
+   * 更新车辆运输订单.
    *
    * @param vehicleRef A reference to the vehicle to be modified.
    * @param orderRef A reference to the transport order the vehicle processes.

opentcs-api-base/src/main/java/org/opentcs/data/model/Vehicle.java

@@ -1633,16 +1633,39 @@ public class Vehicle
     ERROR,
     /**
      * The vehicle is currently idle/available for processing movement orders.
+     * 空闲，对应科聪控制器状态0x00
      */
     IDLE,
     /**
      * The vehicle is processing a movement order.
+     * 运行，对应科聪控制器状态0x01
      */
     EXECUTING,
     /**
      * The vehicle is currently recharging its battery/refilling fuel.
      */
-    CHARGING
+    CHARGING,
+    /**
+     * 暂停，对应科聪控制器状态0x02
+     */
+    PAUSED,
+    /**
+     * 车辆初始化中，对应科聪控制器状态0x03
+     */
+    INITIALIZING,
+    /**
+     * 人工确认,对应科聪控制器状态0x04
+     */
+    CONFIRMATION,
+    /**
+     * 车辆未初始化，对应科聪控制器状态0x05
+     */
+    UNINITIALIZED,
+    /**
+     * 低电量模式
+     */
+    FEED
+
   }
 
   /**
@@ -1652,19 +1675,23 @@ public class Vehicle
 
     /**
      * The vehicle's reported position is ignored.
+     * 车辆报告的位置将被忽略。
      */
     TO_BE_IGNORED,
     /**
      * The vehicle's reported position is noticed, meaning that resources will not be reserved for
      * it.
+     * 车辆报告的位置会被注意到，这意味着不会为其保留资源。
      */
     TO_BE_NOTICED,
     /**
      * The vehicle's reported position is respected, meaning that resources will be reserved for it.
+     * 车辆报告的位置将被遵守，这意味着将为其保留资源。
      */
     TO_BE_RESPECTED,
     /**
      * The vehicle is fully integrated and may be assigned to transport orders.
+     * 车辆已完全集成，可以分配给运输订单。
      */
     TO_BE_UTILIZED
   }

opentcs-api-base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java

@@ -91,6 +91,14 @@ public class VehicleProcessModel {
    * The vehicle's current bounding box.
    */
   private BoundingBox boundingBox;
+  /**
+   * 当前车辆级别
+   */
+  private Vehicle.IntegrationLevel integrationLevel;
+  /**
+   * 载货状态
+   */
+  private Boolean loadState;
 
   /**
    * Creates a new instance.
@@ -661,6 +669,7 @@ public class VehicleProcessModel {
       @Nonnull
       Vehicle.IntegrationLevel level
   ) {
+    integrationLevel = level;
     getPropertyChangeSupport().firePropertyChange(
         Attribute.INTEGRATION_LEVEL_CHANGE_REQUESTED.name(),
         null,
@@ -668,6 +677,14 @@ public class VehicleProcessModel {
     );
   }
 
+  /**
+   * 获取车辆级别
+   * @return 车辆级别
+   */
+  public Vehicle.IntegrationLevel getIntegrationLevel() {
+    return integrationLevel;
+  }
+
   /**
    * Notifies observers that the vehicle would like to have its current transport order withdrawn.
    *

opentcs-api-injection/build.gradle

@@ -14,3 +14,11 @@ dependencies {
 task release {
   dependsOn build
 }
+
+tasks.withType(JavaCompile){
+  options.encoding="utf-8"
+}
+
+tasks.withType(Javadoc){
+  options.encoding="utf-8"
+}

opentcs-commadapter-loopback/build.gradle

@@ -9,8 +9,18 @@ apply from: "${rootDir}/gradle/publishing-java.gradle"
 dependencies {
   api project(':opentcs-api-injection')
   api project(':opentcs-common')
+  //fastjson
+  implementation 'com.alibaba:fastjson:1.2.83'
 }
 
 task release {
   dependsOn build
 }
+
+tasks.withType(JavaCompile){
+  options.encoding="utf-8"
+}
+
+tasks.withType(Javadoc){
+  options.encoding="utf-8"
+}

opentcs-commadapter-loopback/src/guiceConfig/java/org/opentcs/virtualvehicle/LoopbackCommAdapterModule.java

@@ -4,6 +4,8 @@ package org.opentcs.virtualvehicle;
 
 import com.google.inject.assistedinject.FactoryModuleBuilder;
 import org.opentcs.customizations.kernel.KernelInjectionModule;
+import org.opentcs.virtualvehicle.testadapter.TestLoopbackAdapterComponentsFactory;
+import org.opentcs.virtualvehicle.testadapter.TestLoopbackCommunicationAdapterFactory;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -46,6 +48,8 @@ public class LoopbackCommAdapterModule
     // tag::documentation_createCommAdapterModule[]
     vehicleCommAdaptersBinder().addBinding().to(LoopbackCommunicationAdapterFactory.class);
     // end::documentation_createCommAdapterModule[]
+    install(new FactoryModuleBuilder().build(TestLoopbackAdapterComponentsFactory.class));
+    vehicleCommAdaptersBinder().addBinding().to(TestLoopbackCommunicationAdapterFactory.class);
   }
 
 }

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

@@ -296,30 +296,37 @@ public class LoopbackVehicleModel
   public enum Attribute {
     /**
      * Indicates a change of the virtual vehicle's single step mode setting.
+     * 表示虚拟车辆的单步模式设置的更改。
      */
     SINGLE_STEP_MODE,
     /**
      * Indicates a change of the virtual vehicle's default operating time.
+     * 表示虚拟车辆的默认运行时间的更改。
      */
     OPERATING_TIME,
     /**
      * Indicates a change of the virtual vehicle's maximum acceleration.
+     * 表示虚拟车辆的最大加速度的变化。
      */
     ACCELERATION,
     /**
      * Indicates a change of the virtual vehicle's maximum deceleration.
+     * 表示虚拟车辆的最大减速度发生变化。
      */
     DECELERATION,
     /**
      * Indicates a change of the virtual vehicle's maximum forward velocity.
+     * 表示虚拟车辆的最大前进速度的变化。
      */
     MAX_FORWARD_VELOCITY,
     /**
      * Indicates a change of the virtual vehicle's maximum reverse velocity.
+     * 表示虚拟车辆的最大倒车速度的变化。
      */
     MAX_REVERSE_VELOCITY,
     /**
      * Indicates a change of the virtual vehicle's paused setting.
+     * 表示更改虚拟车辆的暂停设置。
      */
     VEHICLE_PAUSED,
   }

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

@@ -74,4 +74,20 @@ public interface VirtualVehicleConfiguration {
       orderKey = "2_behaviour_3"
   )
   int vehicleLengthUnloaded();
+
+  @ConfigurationEntry(
+      type = "String",
+      description = "充电策略选择",
+      changesApplied = ConfigurationEntry.ChangesApplied.INSTANTLY,
+      orderKey = "3_model_1"
+  )
+  String chargingStrategyName();
+
+  @ConfigurationEntry(
+      type = "Float",
+      description = "每秒钟耗电",
+      changesApplied = ConfigurationEntry.ChangesApplied.INSTANTLY,
+      orderKey = "3_model_2"
+  ) // 每秒消耗5%电量
+  float energyDrainRatePerSecond();
 }

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/chargingstrategy/ChargingStrategy.java

@@ -0,0 +1,18 @@
+package org.opentcs.virtualvehicle.chargingstrategy;
+
+import org.opentcs.virtualvehicle.LoopbackVehicleModel;
+
+public interface ChargingStrategy {
+  /**
+   * 检查是否需要充电
+   * @param processModel 车辆进程模型
+   * @return 是否需要充电
+   */
+  boolean needToCharge(LoopbackVehicleModel processModel);
+
+  /**
+   * 获取充电策略名称
+   * @return 策略名称
+   */
+  String getStrategyName();
+}

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/chargingstrategy/ChargingStrategyManager.java

@@ -0,0 +1,73 @@
+package org.opentcs.virtualvehicle.chargingstrategy;
+
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.List;
+import org.opentcs.virtualvehicle.LoopbackVehicleModel;
+
+/**
+ * 充电策略管理器：管理充电策略的选择和应用
+ */
+public class ChargingStrategyManager {
+  private final List<ChargingStrategy> strategies;
+  private ChargingStrategy currentStrategy;
+
+  public ChargingStrategyManager() {
+    // 初始化支持的充电策略
+    strategies = Arrays.asList(
+        new ThresholdChargingStrategy(60, 95)
+    );
+    // 默认使用阈值充电策略
+    currentStrategy = strategies.get(0);
+  }
+
+  /**
+   * 根据当前情况选择最合适的充电策略
+   */
+  public void selectOptimalStrategy(LoopbackVehicleModel processModel) {
+    for (ChargingStrategy strategy : strategies) {
+      if (strategy.needToCharge(processModel)) {
+        currentStrategy = strategy;
+        return;
+      }
+    }
+    // 如果没有策略触发，使用默认策略
+    currentStrategy = strategies.get(0);
+  }
+
+  /**
+   * 检查是否需要充电
+   */
+  public boolean needToCharge(LoopbackVehicleModel processModel) {
+    selectOptimalStrategy(processModel);
+    return currentStrategy.needToCharge(processModel);
+  }
+
+  /**
+   * 获取当前使用的充电策略
+   */
+  public ChargingStrategy getCurrentStrategy() {
+    return currentStrategy;
+  }
+
+  /**
+   * 获取所有可用的充电策略
+   */
+  public List<ChargingStrategy> getAvailableStrategies() {
+    return Collections.unmodifiableList(strategies);
+  }
+
+  /**
+   * 设置指定名称的充电策略
+   */
+  public void setStrategyByName(String strategyName) {
+    for (ChargingStrategy strategy : strategies) {
+      if (strategy.getStrategyName().equals(strategyName)) {
+        currentStrategy = strategy;
+        return;
+      }
+    }
+    // 如果未找到指定策略，使用默认策略
+    currentStrategy = strategies.get(0);
+  }
+}

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/chargingstrategy/ThresholdChargingStrategy.java

@@ -0,0 +1,33 @@
+package org.opentcs.virtualvehicle.chargingstrategy;
+
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.virtualvehicle.LoopbackVehicleModel;
+
+/**
+ * 电量阈值充电策略：当电量低于指定阈值时开始充电
+ */
+public class ThresholdChargingStrategy implements ChargingStrategy {
+  private final int chargeThreshold; // 充电阈值（%）
+  private final int fullChargeThreshold; // 充满阈值（%）
+
+  public ThresholdChargingStrategy(int chargeThreshold, int fullChargeThreshold) {
+    this.chargeThreshold = chargeThreshold;
+    this.fullChargeThreshold = fullChargeThreshold;
+  }
+
+  @Override
+  public boolean needToCharge(LoopbackVehicleModel processModel) {
+    int energyLevel = processModel.getEnergyLevel();
+    return energyLevel <= chargeThreshold && !isChargingOrFull(processModel);
+  }
+
+  private boolean isChargingOrFull(LoopbackVehicleModel processModel) {
+    return processModel.getState() == Vehicle.State.CHARGING ||
+        processModel.getEnergyLevel() >= fullChargeThreshold;
+  }
+
+  @Override
+  public String getStrategyName() {
+    return "threshold_charging_strategy";
+  }
+}

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/testadapter/TestLoopbackAdapterComponentsFactory.java

@@ -0,0 +1,14 @@
+package org.opentcs.virtualvehicle.testadapter;
+
+import org.opentcs.data.model.Vehicle;
+
+public interface TestLoopbackAdapterComponentsFactory {
+
+  /**
+   * Creates a new LoopbackCommunicationAdapter for the given vehicle.
+   *
+   * @param vehicle The vehicle.
+   * @return A new LoopbackCommunicationAdapter for the given vehicle.
+   */
+  TestLoopbackCommunicationAdapter createLoopbackCommAdapter(Vehicle vehicle);
+}

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/testadapter/TestLoopbackCommAdapterPanelFactory.java

@@ -0,0 +1,123 @@
+package org.opentcs.virtualvehicle.testadapter;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import jakarta.inject.Inject;
+import java.util.ArrayList;
+import java.util.List;
+import org.opentcs.access.KernelServicePortal;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
+import org.opentcs.drivers.vehicle.management.VehicleCommAdapterPanel;
+import org.opentcs.drivers.vehicle.management.VehicleCommAdapterPanelFactory;
+import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
+import org.opentcs.virtualvehicle.AdapterPanelComponentsFactory;
+import org.opentcs.virtualvehicle.LoopbackVehicleModelTO;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class TestLoopbackCommAdapterPanelFactory
+    implements
+    VehicleCommAdapterPanelFactory {
+
+  /**
+   * This class's logger.
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(TestLoopbackCommAdapterPanelFactory.class);
+  /**
+   * The service portal.
+   */
+  private final KernelServicePortal servicePortal;
+  /**
+   * The components factory.
+   */
+  private final AdapterPanelComponentsFactory componentsFactory;
+  /**
+   * Whether this factory is initialized or not.
+   */
+  private boolean initialized;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param servicePortal The service portal.
+   * @param componentsFactory The components factory.
+   */
+  @Inject
+  public TestLoopbackCommAdapterPanelFactory(
+      KernelServicePortal servicePortal,
+      AdapterPanelComponentsFactory componentsFactory
+  ) {
+    this.servicePortal = requireNonNull(servicePortal, "servicePortal");
+    this.componentsFactory = requireNonNull(componentsFactory, "componentsFactory");
+  }
+
+  @Override
+  public void initialize() {
+    if (isInitialized()) {
+      return;
+    }
+
+    initialized = true;
+  }
+
+  @Override
+  public boolean isInitialized() {
+    return initialized;
+  }
+
+  @Override
+  public void terminate() {
+    if (!isInitialized()) {
+      return;
+    }
+
+    initialized = false;
+  }
+
+  @Override
+  public List<VehicleCommAdapterPanel> getPanelsFor(
+      @Nonnull
+      VehicleCommAdapterDescription description,
+      @Nonnull
+      TCSObjectReference<Vehicle> vehicle,
+      @Nonnull
+      VehicleProcessModelTO processModel
+  ) {
+    requireNonNull(description, "description");
+    requireNonNull(vehicle, "vehicle");
+    requireNonNull(processModel, "processModel");
+
+    if (!providesPanelsFor(description, processModel)) {
+      return new ArrayList<>();
+    }
+
+    List<VehicleCommAdapterPanel> panels = new ArrayList<>();
+    panels.add(
+        componentsFactory.createPanel(
+            ((LoopbackVehicleModelTO) processModel),
+            servicePortal.getVehicleService()
+        )
+    );
+    return panels;
+  }
+
+  /**
+   * Checks whether this factory can provide comm adapter panels for the given description and the
+   * given type of process model.
+   *
+   * @param description The description to check for.
+   * @param processModel The process model.
+   * @return {@code true} if, and only if, this factory can provide comm adapter panels for the
+   * given description and the given type of process model.
+   */
+  private boolean providesPanelsFor(
+      VehicleCommAdapterDescription description,
+      VehicleProcessModelTO processModel
+  ) {
+    return (description instanceof TestLoopbackCommunicationAdapterDescription)
+        && (processModel instanceof LoopbackVehicleModelTO);
+  }
+}

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/testadapter/TestLoopbackCommunicationAdapterDescription.java

@@ -0,0 +1,28 @@
+package org.opentcs.virtualvehicle.testadapter;
+
+import static org.opentcs.virtualvehicle.I18nLoopbackCommAdapter.BUNDLE_PATH;
+
+import java.util.ResourceBundle;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
+
+public class TestLoopbackCommunicationAdapterDescription
+    extends
+    VehicleCommAdapterDescription {
+
+  /**
+   * Creates a new instance.
+   */
+  public TestLoopbackCommunicationAdapterDescription() {
+  }
+
+  @Override
+  public String getDescription() {
+    return ResourceBundle.getBundle(BUNDLE_PATH)
+        .getString("myLoopbackCommunicationAdapterDescription.description");
+  }
+
+  @Override
+  public boolean isSimVehicleCommAdapter() {
+    return true;
+  }
+}

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/testadapter/TestLoopbackCommunicationAdapterFactory.java

@@ -0,0 +1,77 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.virtualvehicle.testadapter;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.inject.Inject;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterFactory;
+import org.opentcs.virtualvehicle.LoopbackAdapterComponentsFactory;
+import org.opentcs.virtualvehicle.LoopbackCommunicationAdapter;
+
+/**
+ * A factory for loopback communication adapters (virtual vehicles).
+ */
+public class TestLoopbackCommunicationAdapterFactory
+    implements
+      VehicleCommAdapterFactory {
+
+  /**
+   * The adapter components factory.
+   */
+  private final TestLoopbackAdapterComponentsFactory adapterFactory;
+  /**
+   * Indicates whether this component is initialized or not.
+   */
+  private boolean initialized;
+
+  /**
+   * Creates a new factory.
+   *
+   * @param componentsFactory The adapter components factory.
+   */
+  @Inject
+  public TestLoopbackCommunicationAdapterFactory(TestLoopbackAdapterComponentsFactory componentsFactory) {
+    this.adapterFactory = requireNonNull(componentsFactory, "componentsFactory");
+  }
+
+  @Override
+  public void initialize() {
+    if (isInitialized()) {
+      return;
+    }
+    initialized = true;
+  }
+
+  @Override
+  public boolean isInitialized() {
+    return initialized;
+  }
+
+  @Override
+  public void terminate() {
+    if (!isInitialized()) {
+      return;
+    }
+    initialized = false;
+  }
+
+  @Override
+  public VehicleCommAdapterDescription getDescription() {
+    return new TestLoopbackCommunicationAdapterDescription();
+  }
+
+  @Override
+  public boolean providesAdapterFor(Vehicle vehicle) {
+    requireNonNull(vehicle, "vehicle");
+    return true;
+  }
+
+  @Override
+  public TestLoopbackCommunicationAdapter getAdapterFor(Vehicle vehicle) {
+    requireNonNull(vehicle, "vehicle");
+    return adapterFactory.createLoopbackCommAdapter(vehicle);
+  }
+}

opentcs-commadapter-loopback/src/main/resources/i18n/org/opentcs/commadapter/loopback/Bundle.properties

@@ -42,3 +42,4 @@ loopbackCommAdapterPanel.radioButton_setProperty.text=Set this value:
 loopbackCommAdapterPanel.textArea_precisePosition.positionNotSetPlaceholder=-
 loopbackCommAdapterPanel.textField_orientationAngle.angleNotSetPlaceholder=-
 loopbackCommunicationAdapterDescription.description=Loopback adapter (virtual vehicle)
+myLoopbackCommunicationAdapterDescription.description=Test Loopback adapter (virtual vehicle)

opentcs-common/build.gradle

@@ -22,8 +22,21 @@ dependencies {
   implementation group: 'org.springframework.retry', name: 'spring-retry', version: '2.0.5'
   // https://mvnrepository.com/artifact/ch.qos.logback/logback-classic
   implementation group: 'ch.qos.logback', name: 'logback-classic', version: '1.5.16'
-
-
+  // Lombok依赖
+  compileOnly 'org.projectlombok:lombok:1.18.30'
+  annotationProcessor 'org.projectlombok:lombok:1.18.30'
+  //fastjson
+  implementation 'com.alibaba:fastjson:1.2.83'
+  //okhttp
+  implementation 'com.squareup.okhttp3:okhttp:4.12.0'
+  // 嵌入式 MQTT 服务端代理
+  implementation 'io.moquette:moquette-broker:0.15'
+  // MQTT 客户端
+  implementation 'org.eclipse.paho:org.eclipse.paho.client.mqttv3:1.2.5'
+  //JTS
+  implementation 'org.locationtech.jts:jts-core:1.18.2'
+  // https://mvnrepository.com/artifact/org.locationtech.jts.io/jts-io-common
+//  implementation("org.locationtech.jts.io:jts-io-common:1.20.0")
 }
 
 processResources.doLast {
@@ -40,3 +53,11 @@ processResources.doLast {
 task release {
   dependsOn build
 }
+
+tasks.withType(JavaCompile){
+  options.encoding="utf-8"
+}
+
+tasks.withType(Javadoc){
+  options.encoding="utf-8"
+}

opentcs-common/src/main/java/org/opentcs/charge/ChargeStrategy.java

@@ -0,0 +1,56 @@
+package org.opentcs.charge;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import org.opentcs.charge.entity.ChargePiles;
+import org.opentcs.data.model.Vehicle;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @date 2025-5-19
+ * @desc 充电策略
+ */
+public class ChargeStrategy {
+
+  /**
+   * LOG
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(ChargeStrategy.class);
+  /**
+   * 所有车辆电量：key为车辆名称，value为电量百分比
+   */
+  public static HashMap<String, Integer> vehiclePower = new HashMap<>();
+  /**
+   * 充电桩维护对象
+   */
+  public static ArrayList<ChargePiles> AllChargePiles;
+
+  /**
+   * 闲时充电
+   * @param vehicle 车辆
+   * @param power 电量百分比
+   * @param batteryStatus 电池状态
+   * @param energyLevelThresholdSet 设定阈值
+   */
+  public synchronized static void chargeStrategy(String vehicle, Integer power, Integer batteryStatus, Vehicle.EnergyLevelThresholdSet energyLevelThresholdSet) {
+
+    LOG.debug("vehicle: {}, start exec chargeStrategy" , vehicle);
+
+    //充电桩数组还是为空，直接返回
+    if (AllChargePiles.isEmpty()) {
+      //无充电桩，无法执行自动充电,返回未知状态
+      return;
+    }
+
+    if (batteryStatus == 0) {     //放电状态
+      //判断是否执行充电
+
+    } else {        //充电状态
+      //判断是否释放车辆
+
+    }
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/charge/entity/ChargePiles.java

@@ -0,0 +1,24 @@
+package org.opentcs.charge.entity;
+
+import lombok.Data;
+
+@Data
+public class ChargePiles {
+
+  /**
+   * 充电桩名称
+   */
+  private String pilesName;
+  /**
+   * 占用车辆
+   */
+  private String vehicleName;
+  /**
+   * 充电桩状态：true充电中，false空闲
+   */
+  private Boolean status;
+  /**
+   * 电量
+   */
+  private Integer power;
+}

opentcs-common/src/main/java/org/opentcs/common/GuestUserCredentials.java

@@ -18,9 +18,13 @@ public interface GuestUserCredentials {
   /**
    * 主机IP
    */
-  String IP = "192.168.124.109";
+  String IP = "0.0.0.0";
   /**
    * 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/common/LoopbackAdapterConstants.java

@@ -54,8 +54,7 @@ public interface LoopbackAdapterConstants {
    */
   String AGV_PORT = "AGV:PORT";
   /**
-   * 定制点位类型，1=WMS请求点位
+   * 对应路线车辆行驶姿态：0=正走，1=到走
    */
-  String POINT_TYPE = "tcs:point";
-
+  String AGV_DRIVE_POSE = "PATH:DRIVE_POSE";
 }

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

@@ -0,0 +1,236 @@
+package org.opentcs.communication.http;
+
+import com.alibaba.fastjson.JSON;
+import java.io.IOException;
+import java.util.ArrayList;
+import okhttp3.MediaType;
+import okhttp3.OkHttpClient;
+import okhttp3.Request;
+import okhttp3.RequestBody;
+import okhttp3.Response;
+import org.opentcs.communication.http.dto.BaseRequestTo;
+import org.opentcs.communication.http.dto.kc.move.Path;
+import org.opentcs.communication.http.dto.kc.move.Point;
+import org.opentcs.communication.http.dto.kc.move.RequestAe;
+import org.opentcs.communication.http.service.ExecuteOperation;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc http客户端
+ */
+public class HttpClient {
+
+  private static final Logger LOG = LoggerFactory.getLogger(HttpClient.class);
+
+  private final OkHttpClient client;
+
+//  private final String url = "http://192.168.124.121:2005";
+
+  public HttpClient() {
+    this.client = new OkHttpClient();
+  }
+
+  /**
+   * 发送 POST 请求
+   * @return ApiResponse 对象
+   */
+  public String sendCommand(String url, Object data) {
+    String jsonBody = JSON.toJSONString(data);
+    System.out.println("SENDING POST REQUEST data:" + jsonBody);
+    LOG.debug("SENDING POST REQUEST data: {}", jsonBody);
+    RequestBody body = RequestBody.create(jsonBody, MediaType.get("application/json"));
+    Request request = new Request.Builder().url(url).post(body).build();
+    try (Response response = client.newCall(request).execute()) {
+      return response.body().string();
+    } catch (IOException e) {
+      throw new RuntimeException("HTTP POST Request Failed", e);
+    }
+  }
+
+
+  /**
+   * 测试代码
+   */
+  public static void main(String[] args) {
+
+
+    ExecuteOperation executeOperation = new ExecuteOperation();
+
+    {     //暂停订单
+      ExecuteOperation.pauseOrder("v1", 1);
+    }
+
+    {   //继续执行订单
+      ExecuteOperation.continueOrder("v1", 1);
+    }
+
+    {   //撤销订单
+      ExecuteOperation.cancelOrder("v1");
+    }
+
+
+//    HttpClient httpClient = new HttpClient();
+
+//    {   //0x02
+//      //变量成员
+//      ArrayList<org.opentcs.communication.http.dto.kc.cmd02.ValueMember> valueMemberList = new ArrayList<>();
+//      org.opentcs.communication.http.dto.kc.cmd02.ValueMember valueMember = new org.opentcs.communication.http.dto.kc.cmd02.ValueMember();
+//      valueMember.setLength(4);
+//      valueMember.setOffset(0);
+//      valueMemberList.add(valueMember);
+//
+//      //变量结构体
+//      ArrayList<org.opentcs.communication.http.dto.kc.cmd02.StrValue> strValueList = new ArrayList<>();
+//      org.opentcs.communication.http.dto.kc.cmd02.StrValue strValue = new org.opentcs.communication.http.dto.kc.cmd02.StrValue();
+//      strValue.setName("NaviControl");
+//      strValue.setCount(1);
+//      strValue.setMember(valueMemberList);
+//      strValueList.add(strValue);
+//
+//      //请求对象
+//      Request02 request02 = new Request02();
+//      request02.setVar(strValueList);
+//      request02.setVarCount(1);
+//
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x02), "OPENTCS", "KC-CTRL", request02);
+//
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //0xB0
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0xB0), "OPENTCS", "KC-CTRL", new Object());
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //0xB2
+//      //action: 0x01
+//      Action01 action01 = new Action01();
+//      action01.setIsStopImmediately(1);
+//      ArrayList<Action01> actionList = new ArrayList<>();
+//      actionList.add(action01);
+//
+////      //action: 0x02
+////      Action02 action02 = new Action02();
+////      action02.setOrderId(1);
+////      action02.setTaskKey(1);
+////      ArrayList<Action02> actionList = new ArrayList<>();
+////      actionList.add(action02);
+////
+////      //action: 0x03
+////      Action03 action03 = new Action03();
+////      action03.setOrderId(1);
+////      action03.setIsStopImmediately(1);
+////      ArrayList<Action03> actionList = new ArrayList<>();
+////      actionList.add(action03);
+//
+//      RequestB2 requestB2 = new RequestB2();
+//      requestB2.setActionType(KcActionCmdEnum.getValueByKey(0x03));
+//      requestB2.setActionParallelManner(0x02);
+//      requestB2.setParamSize(8);
+//      requestB2.setParamData(actionList);
+//
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0xB2), "OPENTCS", "KC-CTRL", requestB2);
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //0x17
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x17), "OPENTCS", "KC-CTRL", new Object());
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //0x1F
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x1F), "OPENTCS", "KC-CTRL", new Object());
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //0x14
+//      Request14 request14 = new Request14();
+//      request14.setX(3.0);
+//      request14.setY(2.0);
+//      request14.setAngle(1.0);
+//
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x14), "OPENTCS", "KC-CTRL", request14);
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //AF
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0xAF), "OPENTCS", "KC-CTRL", new Object());
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //0x03
+//      //变量成员
+//      ArrayList<ValueMember> valueMemberList = new ArrayList<>();
+//      org.opentcs.communication.http.dto.kc.cmd03.ValueMember valueMember = new org.opentcs.communication.http.dto.kc.cmd03.ValueMember();
+//      valueMember.setLength(4);
+//      valueMember.setOffset(0);
+//      valueMember.setVelue(1);
+//      valueMemberList.add(valueMember);
+//
+//      //变量结构体
+//      ArrayList<StrValue> strValueList = new ArrayList<>();
+//      org.opentcs.communication.http.dto.kc.cmd03.StrValue strValue = new org.opentcs.communication.http.dto.kc.cmd03.StrValue();
+//      strValue.setName("NaviControl");
+//      strValue.setCount(1);
+//      strValue.setMember(valueMemberList);
+//      strValueList.add(strValue);
+//
+//      //请求对象
+//      Request03 request03 = new Request03();
+//      request03.setVar(strValueList);
+//      request03.setVarCount(1);
+//
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0x03), "OPENTCS", "KC-CTRL", request03);
+//
+//      httpClient.sendCommand(baseRequestTo);
+//    }
+
+//    {   //0xAE
+//      RequestAe ae = new RequestAe();
+//      ae.setWms_order_id(1);
+//      ae.setOrder_id(1);
+//      ae.setTask_key(1);
+//      ae.setPoint_size(2);
+//      ae.setPath_size(1);
+//
+//      ArrayList<Point> pointList = new ArrayList<>();
+//      for (int i = 0; i < ae.getPoint_size(); i++) {
+//        Point point = new Point();
+//
+//        if (i == 0) {
+//          point.setPoint_id(1);
+//          point.setPoint_serial(0);
+//        } else {
+//          point.setPoint_id(2);
+//          point.setPoint_serial(2);
+//        }
+//        point.setPoint_angle(0);
+//
+//        pointList.add(point);
+//      }
+//      ae.setPoint_info(pointList);
+//
+//      ArrayList<Path> pathList = new ArrayList<>();
+//      for (int i = 0; i < ae.getPath_size(); i++) {
+//        Path path = new Path();
+//
+//        path.setPath_id(12);
+//        path.setPath_serial(1);
+//        path.setPath_angle(0);
+//        path.setDriver_pose(1);
+//        path.setMax_speed(1);
+//        path.setMax_angle_speed(1);
+//
+//        pathList.add(path);
+//      }
+//      ae.setPath_info(pathList);
+//
+//      BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", 1, "2025-6-6 10:00:00", ae);
+//
+//      httpClient.sendCommand("http://192.168.124.121:2005", baseRequestTo);
+//    }
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/BaseRequestTo.java

@@ -0,0 +1,40 @@
+package org.opentcs.communication.http.dto;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体基类
+ */
+@Data
+public class BaseRequestTo {
+
+  public BaseRequestTo(
+      Integer type,
+      String sender,
+      String receiver,
+      Integer serial_num,
+      String time,
+      Object params
+  ) {
+    this.type = type;
+    this.sender = sender;
+    this.receiver = receiver;
+    this.serial_num = serial_num;
+    this.time = time;
+    this.params = params;
+  }
+
+  private Integer type;
+
+  private String sender;
+
+  private String receiver;
+
+  private Integer serial_num;
+
+  private String time;
+
+  private Object params;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/action/RequestAction.java

@@ -0,0 +1,24 @@
+package org.opentcs.communication.http.dto.kc.action;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ */
+@Data
+public class RequestAction {
+
+  /**
+   * 订单名称
+   */
+  private String order_name;
+  /**
+   * 动作
+   */
+  private String action;
+  /**
+   * 当前位置
+   */
+  private String point;
+
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/Path.java

@@ -0,0 +1,38 @@
+package org.opentcs.communication.http.dto.kc.move;
+
+import java.util.ArrayList;
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class Path {
+
+  /**
+   * 路径ID
+   */
+  private Integer path_id;
+  /**
+   * 路径序列号: 从 1 开始奇数递增，例如：1->3->5->7……
+   */
+  private Integer path_serial;
+  /**
+   * 机器人固定角度: 0 = 不指定
+   */
+  private float path_angle;
+  /**
+   * 行驶姿态: 0x0 正走,0x1 倒走,0x02 左横移（支持横移类底盘进,行二维码导航时生效）,0x03 右横移（支持横移类底盘进行二维码导航时生效）
+   */
+  private Integer driver_pose;
+  /**
+   * 指定的目标最大速度
+   */
+  private float max_speed;
+  /**
+   * 指定的目标最大角速度
+   */
+  private float max_angle_speed;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/Point.java

@@ -0,0 +1,26 @@
+package org.opentcs.communication.http.dto.kc.move;
+
+import java.util.ArrayList;
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class Point {
+
+  /**
+   * 点ID
+   */
+  private Integer point_id;
+  /**
+   * 点序列号: 从 0开始偶数递增，例如：0->2->4->6……
+   */
+  private Integer point_serial;
+  /**
+   * 角度：0=不指定角度
+   */
+  private double point_angle;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/RequestAe.java

@@ -0,0 +1,44 @@
+package org.opentcs.communication.http.dto.kc.move;
+
+import java.util.ArrayList;
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class RequestAe {
+
+  public RequestAe() {}
+
+  /**
+   * 订单ID wms_order_id
+   */
+  private Integer wms_order_id;
+  /**
+   * 订单ID
+   */
+  private Integer order_id;
+  /**
+   * 任务ID task_key: 任务的唯一标识。与订单 ID 绑定，从 1 开始，当同一订单下发新的资源时加 1；
+   */
+  private Integer task_key;
+  /**
+   * 点个数 point_size
+   */
+  private Integer point_size;
+  /**
+   * 路径个数 path_size
+   */
+  private Integer path_size;
+  /**
+   * 点信息结构
+   */
+  private ArrayList<Point> point_info;
+  /**
+   * 路线信息结构
+   */
+  private ArrayList<Path> path_info;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/Action01.java

@@ -0,0 +1,17 @@
+package org.opentcs.communication.http.dto.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 实体类
+ */
+@Data
+public class Action01 {
+
+  /**
+   * 是否立即停止移动: 0：机器人正常移动到点上停止（停不下来就移动到下一个点）, 1：立刻停止(缓停)；
+   */
+  private Integer isStopImmediately;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/Action02.java

@@ -0,0 +1,21 @@
+package org.opentcs.communication.http.dto.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/13
+ * @desc 实体类
+ */
+@Data
+public class Action02 {
+
+  /**
+   * 订单ID
+   */
+  private Integer orderId;
+  /**
+   * 任务key
+   */
+  private Integer taskKey;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/Action03.java

@@ -0,0 +1,21 @@
+package org.opentcs.communication.http.dto.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/13
+ * @desc 实体类
+ */
+@Data
+public class Action03 {
+
+  /**
+   * 订单ID
+   */
+  private Integer orderId;
+  /**
+   * 是否立即停止移动: 1 立刻停止(缓停)；0 AGV 正常移动到点上停止（停不下来就移动到下一个点）
+   */
+  private Integer isStopImmediately;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/RequestB2.java

@@ -0,0 +1,29 @@
+package org.opentcs.communication.http.dto.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 实体类
+ */
+@Data
+public class RequestB2 {
+
+  /**
+   * 动作类型-》填写动作命令码
+   */
+  private Integer action_type;
+  /**
+   * 执行动作并行方式: 0x00：为移动和动作间都可并行, 0x01：为动作间可以并行，不能移动, 0x02 只能执行当前动作
+   */
+  private Integer action_parallel_manner;
+  /**
+   * 参数内容长度
+   */
+  private Integer param_size;
+  /**
+   * 参数内容
+   */
+  private Object param_data;
+}

opentcs-common/src/main/java/org/opentcs/communication/http/entity/OrderInfo.java

@@ -0,0 +1,35 @@
+package org.opentcs.communication.http.entity;
+
+import lombok.Data;
+
+@Data
+public class OrderInfo {
+
+  /**
+   * 订单ID
+   */
+  private Integer id;
+  /**
+   * 订单名称
+   */
+  private String name;
+  /**
+   * 订单状态: 1=执行中，2=暂停，3=撤销
+   */
+  private Integer state;
+  /**
+   * 任务唯一键
+   */
+  private Integer taskKey;
+  /**
+   * 点序列号
+   * 用于定位点在整个任务中的位置。目的是区分同一个点ID是否在一个任务中出现多次。从0开始偶数递增，例如：0->2->4->6……
+   */
+  private Integer pointSerialNum;
+  /**
+   * 路线序列号
+   * 用于定位段在整个任务中的位置。目的是区分同一个段ID是否在一个任务中出现多次。从1开始奇数递增，例如：1->3->5->7……
+   */
+  private Integer pathSerialNum;
+
+}

opentcs-common/src/main/java/org/opentcs/communication/http/enums/Actions.java

@@ -0,0 +1,33 @@
+package org.opentcs.communication.http.enums;
+
+public enum Actions {
+
+  //取请求
+  PICK_UP_REQUEST,
+  //放请求
+  RELEASE_REQUEST,
+  //充电
+  CHARGE,
+  //取消充电
+  CANCEL_CHARGE,
+  //取货
+  PICK_UP,
+  //放货
+  RELEASE,
+  ;
+
+  /**
+   * 判断是否存在当前动作
+   * @param value
+   * @return 存在返回true，不存在返回false
+   */
+  public static boolean contains(String value) {
+    for (Actions actions : Actions.values()) {
+      if (actions.name().equals(value)) {
+        return true;
+      }
+    }
+    return false;
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/http/enums/KcActionCmdEnum.java

@@ -0,0 +1,75 @@
+package org.opentcs.communication.http.enums;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 将十进制value，绑定到小端模式16进制key
+ */
+public enum KcActionCmdEnum {
+
+  CMD_ACTION_0x01(0x01, 1),   //暂停车辆
+  CMD_ACTION_0x02(0x02, 2),   //恢复订单执行
+  CMD_ACTION_0x03(0x03, 3);   //取消任务
+
+  private Integer key;
+  private Integer value;
+
+  KcActionCmdEnum(Integer key, Integer value) {
+    this.key = key;
+    this.value = value;
+  }
+
+  public Integer getKey() {
+    return key;
+  }
+
+  public void setKey(Integer key) {
+    this.key = key;
+  }
+
+  public Integer getValue() {
+    return value;
+  }
+
+  public void setValue(Integer value) {
+    this.value = value;
+  }
+
+  // 静态缓存，提升查询性能
+  private static final Map<Integer, KcActionCmdEnum> KEY_MAP = new HashMap<>();
+
+  static {
+    // 初始化时将所有枚举实例的键值存入Map
+    for (KcActionCmdEnum entry : values()) {
+      if (KEY_MAP.containsKey(entry.key)) {
+        throw new IllegalStateException("REPEATED KEY: " + entry.key);
+      }
+      KEY_MAP.put(entry.key, entry);
+    }
+  }
+
+  /**
+   * 根据key获取对应的value
+   * @param key 要查找的键
+   * @return 对应的值
+   * @throws IllegalArgumentException 如果key不存在
+   */
+  public static Integer getValueByKey(Integer key) {
+    KcActionCmdEnum entry = KEY_MAP.get(key);
+    if (entry == null) {
+      throw new IllegalArgumentException("无效的key: " + key);
+    }
+    return entry.value;
+  }
+
+  /**
+   * 根据key获取完整的枚举实例
+   */
+  public static KcActionCmdEnum getEntryByKey(Integer key) {
+    return KEY_MAP.get(key);
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/http/enums/KcCmdEnum.java

@@ -0,0 +1,86 @@
+package org.opentcs.communication.http.enums;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 将十进制value，绑定到小端模式16进制key
+ */
+public enum KcCmdEnum {
+
+  CMD_0x02(0x02, 2),      //读多变量
+  CMD_0x03(0x03, 3),      //写多变量
+  CMD_0x14(0x14, 20),     //执行机器人手动定位
+  CMD_0x17(0x17, 23),     //查询机器人运行状态
+  CMD_0x1F(0x1F, 31),     //确认初始位置
+  CMD_0xAE(0xAE, 174),    //导航指令
+  CMD_0xAF(0xAF, 175),    //获取AGV详细信息
+  CMD_0xB0(0xB0, 176),    //查询载货状态
+  CMD_0xB2(0xB2, 178);    //订阅AGV信息
+
+  /**
+   * 小端模式十六进制命令码
+   */
+  private Integer key;
+  /**
+   * 十进制命令码
+   */
+  private Integer value;
+
+  KcCmdEnum(Integer key, Integer value) {
+    this.key = key;
+    this.value = value;
+  }
+
+  public Integer getKey() {
+    return key;
+  }
+
+  public void setKey(Integer key) {
+    this.key = key;
+  }
+
+  public Integer getValue() {
+    return value;
+  }
+
+  public void setValue(Integer value) {
+    this.value = value;
+  }
+
+  // 静态缓存，提升查询性能
+  private static final Map<Integer, KcCmdEnum> KEY_MAP = new HashMap<>();
+
+  static {
+    // 初始化时将所有枚举实例的键值存入Map
+    for (KcCmdEnum entry : values()) {
+      if (KEY_MAP.containsKey(entry.key)) {
+        throw new IllegalStateException("REPEATED KEY: " + entry.key);
+      }
+      KEY_MAP.put(entry.key, entry);
+    }
+  }
+
+  /**
+   * 根据key获取对应的value
+   * @param key 要查找的键
+   * @return 对应的值
+   * @throws IllegalArgumentException 如果key不存在
+   */
+  public static Integer getValueByKey(Integer key) {
+    KcCmdEnum entry = KEY_MAP.get(key);
+    if (entry == null) {
+      throw new IllegalArgumentException("无效的key: " + key);
+    }
+    return entry.value;
+  }
+
+  /**
+   * 根据key获取完整的枚举实例
+   */
+  public static KcCmdEnum getEntryByKey(Integer key) {
+    return KEY_MAP.get(key);
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/http/enums/Operations.java

@@ -0,0 +1,19 @@
+package org.opentcs.communication.http.enums;
+
+public enum Operations {
+
+  PAUSED(1),      //暂停订单
+  CONTINUE(2),    //继续订单
+  CANCEL(3)       //撤销订单
+  ;
+
+  private final int type;
+
+  Operations(int type) {
+    this.type = type;
+  }
+
+  public int getType() {
+    return type;
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/http/enums/VehicleEnums.java

@@ -0,0 +1,30 @@
+package org.opentcs.communication.http.enums;
+
+public enum VehicleEnums {
+
+  // 定义枚举常量（车辆名称），并传入对应的ip和port
+  v1("192.168.124.221", 2005),
+  v2("192.168.124.222", 2005)
+  ;
+
+  // 枚举的属性
+  private final String ip;
+  private final int port;
+
+  VehicleEnums(String ip, int port) {
+    this.ip = ip;
+    this.port = port;
+  }
+
+
+  // 获取IP
+  public String getIp() {
+    return ip;
+  }
+
+  // 获取端口
+  public int getPort() {
+    return port;
+  }
+
+}

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

@@ -0,0 +1,34 @@
+package org.opentcs.communication.http.service;
+
+import java.util.concurrent.ThreadLocalRandom;
+import java.util.concurrent.atomic.AtomicInteger;
+import org.opentcs.communication.http.enums.VehicleEnums;
+
+public class BaseService {
+
+  // 随机初始化起点，减少重复概率
+  private static final AtomicInteger counter = new AtomicInteger(
+      ThreadLocalRandom.current().nextInt(1, Integer.MAX_VALUE / 2)
+  );
+
+  public static String getUrl(String vehicleName) {
+    VehicleEnums vehicleEnums = VehicleEnums.valueOf(vehicleName);
+    return "http://" + vehicleEnums.getIp() + ":" + vehicleEnums.getPort();
+  }
+
+  /**
+   * 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,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() {
+    int id = counter.getAndIncrement();
+    // 处理溢出（当接近int上限时重置为随机值）
+    return (id < 0) ? counter.getAndSet(
+        ThreadLocalRandom.current().nextInt(1, Integer.MAX_VALUE / 2)
+    ) : id;
+  }
+
+}

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

@@ -0,0 +1,47 @@
+package org.opentcs.communication.http.service;
+
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import org.opentcs.communication.http.HttpClient;
+import org.opentcs.communication.http.dto.BaseRequestTo;
+import org.opentcs.communication.http.dto.kc.action.RequestAction;
+import org.opentcs.communication.http.enums.VehicleEnums;
+
+public class ExecuteAction extends BaseService {
+
+  /**
+   * 下发动作到平台
+   * @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 name, String vehicleName, String point, String action, Integer serialNum) {
+
+    String url = getUrl(vehicleName);
+
+    // 获取当前时间
+    LocalDateTime now = LocalDateTime.now();
+    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+    String time = now.format(formatter);
+
+    RequestAction requestAction = new RequestAction();
+    requestAction.setOrder_name(name);
+    requestAction.setAction(action);
+    requestAction.setPoint(point);
+
+    BaseRequestTo baseRequestTo = new BaseRequestTo(
+        4,
+        "OPENTCS",
+        "KC-CTRL",
+        serialNum,
+        time,
+        requestAction
+    );
+
+    HttpClient httpClient = new HttpClient();
+    httpClient.sendCommand(url, baseRequestTo);
+  }
+
+}

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

@@ -0,0 +1,211 @@
+package org.opentcs.communication.http.service;
+
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Objects;
+import org.opentcs.common.LoopbackAdapterConstants;
+import org.opentcs.communication.http.HttpClient;
+import org.opentcs.communication.http.dto.BaseRequestTo;
+import org.opentcs.communication.http.dto.kc.move.Path;
+import org.opentcs.communication.http.dto.kc.move.Point;
+import org.opentcs.communication.http.dto.kc.move.RequestAe;
+import org.opentcs.communication.http.entity.OrderInfo;
+import org.opentcs.drivers.vehicle.MovementCommand;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class ExecuteMove extends BaseService {
+
+  /**
+   * LOG
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(ExecuteMove.class);
+  /**
+   * 订单名映射int类型数据.
+   */
+  private static final HashMap<String, OrderInfo> orderInfoMap = new HashMap<>();
+
+  /**
+   * 发送移动指令
+   * @param vehicleName 车辆名称
+   * @param cmd 订单
+   * @param serialNum 序列号
+   */
+  public static void sendCmd(String vehicleName, MovementCommand cmd, Integer serialNum)
+  {
+
+    String url = getUrl(vehicleName);
+
+    // 获取当前时间
+    LocalDateTime now = LocalDateTime.now();
+    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+    String time = now.format(formatter);
+
+    RequestAe ae = buildCommand(vehicleName, cmd);
+    BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, ae);
+
+    HttpClient httpClient = new HttpClient();
+    httpClient.sendCommand(url, baseRequestTo);
+  }
+
+  private static RequestAe buildCommand(String vehicleName, MovementCommand cmd)
+  {
+    // 自动维护订单ID和任务key
+    getUniqueOrderID(vehicleName, cmd.getTransportOrder().getName());
+    OrderInfo orderInfo = orderInfoMap.get(vehicleName);
+
+    //订单ID
+    int orderID = orderInfo.getId();
+    //下发起点
+    String sourcePoint = cmd.getStep().getSourcePoint().getName();
+    int newSourcePoint = Integer.parseInt(sourcePoint);
+    //下发终点
+    String destinationPoint = cmd.getStep().getDestinationPoint().getName();
+    int newDestination = Integer.parseInt(destinationPoint);
+
+    //获取路径ID
+    int pathID;
+    if (newSourcePoint < newDestination) {
+      pathID = Integer.parseInt(sourcePoint + destinationPoint);
+    } else {
+      pathID = Integer.parseInt(destinationPoint + sourcePoint);
+    }
+
+    org.opentcs.data.model.Path pathInfo = cmd.getStep().getPath();
+    int maxVelocity = 5;          //获取最大速度
+    int maxReverseVelocity = 5;   //获取最大反向速度
+    if (pathInfo != null) {
+      maxVelocity = pathInfo.getMaxVelocity();  //获取设置速度
+      maxReverseVelocity = pathInfo.getMaxReverseVelocity();
+    }
+    maxVelocity = 5;
+
+    Integer drivePose = getDrivePose(pathInfo);   //行驶姿态
+
+    RequestAe ae = new RequestAe();
+    ae.setWms_order_id(1);  //todo 测试填写
+    ae.setOrder_id(orderID);
+    ae.setTask_key(orderInfo.getTaskKey());
+    orderInfo.setTaskKey(orderInfo.getTaskKey() + 1);
+    ae.setPoint_size(2);
+    ae.setPath_size(1);
+
+    ArrayList<Point> pointList = new ArrayList<>();
+    for (int i = 0; i < ae.getPoint_size(); i++) {
+      Point point = new Point();
+
+      if (i == 0) {
+        point.setPoint_id(newSourcePoint);
+        point.setPoint_serial(orderInfo.getPointSerialNum());
+        orderInfo.setPointSerialNum(orderInfo.getPointSerialNum() + 2);
+      } else {
+        point.setPoint_id(newDestination);
+        point.setPoint_serial(orderInfo.getPointSerialNum());
+      }
+      point.setPoint_angle(0);
+
+      pointList.add(point);
+    }
+    ae.setPoint_info(pointList);
+
+    ArrayList<Path> pathList = new ArrayList<>();
+    for (int i = 0; i < ae.getPath_size(); i++) {
+      Path path = new Path();
+
+      path.setPath_id(pathID);
+      path.setPath_serial(orderInfo.getPathSerialNum());
+      path.setPath_angle(0);
+      path.setDriver_pose(drivePose);
+      path.setMax_speed(maxVelocity);
+      path.setMax_angle_speed(maxVelocity);
+
+      orderInfo.setPathSerialNum(orderInfo.getPathSerialNum() + 2);
+
+      pathList.add(path);
+    }
+    ae.setPath_info(pathList);
+
+    return ae;
+  }
+
+  /**
+   * 维护订单名对应int类型唯一ID--------todo 待优化：如果调度重启，控制器也需要重启。否则0xAE指令会因为重置订单ID和任务key下发失败。应改成wms数据库ID交互
+   * @param vehicleName 车辆名称
+   * @param orderName 订单名称
+   * @return Integer
+   */
+  private static void getUniqueOrderID(String vehicleName, String orderName){
+
+
+    if (orderInfoMap.containsKey(vehicleName)) {
+      //当前车辆已存在集合中
+      OrderInfo orderInfo = orderInfoMap.get(vehicleName);
+
+      if (!Objects.equals(orderName, orderInfo.getName()) && orderInfoMap.containsKey(vehicleName)) {
+        orderInfo.setId(generate());
+        orderInfo.setName(orderName);
+        orderInfo.setState(1);
+        orderInfo.setTaskKey(1);
+        orderInfo.setPointSerialNum(0);
+        orderInfo.setPathSerialNum(1);
+      }
+    } else {
+      //车辆不在集合中
+      OrderInfo orderInfo = new OrderInfo();
+      orderInfo.setId(generate());
+      orderInfo.setName(orderName);
+      orderInfo.setState(1);
+      orderInfo.setTaskKey(1);
+      orderInfo.setPointSerialNum(0);
+      orderInfo.setPathSerialNum(1);
+
+      orderInfoMap.put(vehicleName, orderInfo);
+    }
+  }
+
+  /**
+   * 获取当前订单ID
+   */
+  public static Integer getOrderID(String vehicleName) {
+
+    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) {
+
+    orderInfoMap.remove(vehicleName);
+
+    return true;
+  }
+
+  /**
+   * 返回行驶姿态
+   */
+  private static Integer getDrivePose(org.opentcs.data.model.Path path) {
+    String drivePost = path.getProperties().get(LoopbackAdapterConstants.AGV_DRIVE_POSE);
+//    System.out.println("getDrivePose drivePost: " + drivePost);
+
+    int pose = 0;
+    if (drivePost == null) {
+      return pose;
+    }
+
+    switch (drivePost) {
+      case "1" -> pose = 1;
+      default -> {
+        LOG.error("getDrivePose UNKNOWN DRIVE POSE: {}", drivePost);
+        throw new IllegalArgumentException("UNKNOWN DRIVE POSE: " + drivePost);
+      }
+    }
+
+    return pose;
+  }
+}

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

@@ -0,0 +1,144 @@
+package org.opentcs.communication.http.service;
+
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.util.HashMap;
+import org.opentcs.communication.http.HttpClient;
+import org.opentcs.communication.http.dto.BaseRequestTo;
+import org.opentcs.communication.http.dto.kc.operation.Action01;
+import org.opentcs.communication.http.dto.kc.operation.Action02;
+import org.opentcs.communication.http.dto.kc.operation.Action03;
+import org.opentcs.communication.http.dto.kc.operation.RequestB2;
+import org.opentcs.communication.http.enums.Operations;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class ExecuteOperation extends BaseService{
+
+  /**
+   * This class's Logger.
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(ExecuteOperation.class);
+  /**
+   * 通讯适配器当前执行taskkey
+   */
+  private static HashMap<String, Integer> execTaskKeyMap = new HashMap<>();
+  /**
+   * 序列号
+   */
+  private static Integer serialNum = 0;
+
+  /**
+   * 暂停执行订单
+   * @param vehicleName 车辆名称
+   * @param serialNum 序列号
+   */
+  public static void pauseOrder(String vehicleName, Integer serialNum) {
+    RequestB2 b2 = new RequestB2();
+
+    b2.setAction_parallel_manner(2);
+    b2.setAction_type(Operations.PAUSED.getType());
+    b2.setParam_size(4);
+
+    Action01 action01 = new Action01();
+    action01.setIsStopImmediately(0);
+
+    b2.setParam_data(action01);
+
+    sendCmd(vehicleName, b2, serialNum);
+  }
+
+  /**
+   * 继续执行订单
+   * @param vehicleName 车辆名称
+   * @param serialNum 序列号
+   */
+  public static void continueOrder(String vehicleName, Integer serialNum) {
+    //获取订单ID
+    Integer orderId = ExecuteMove.getOrderID(vehicleName);
+
+    //获取任务key
+    Integer taskKey = getTaskKey(vehicleName);
+
+    RequestB2 b2 = new RequestB2();
+
+    b2.setAction_parallel_manner(2);
+    b2.setAction_type(Operations.CONTINUE.getType());
+    b2.setParam_size(8);
+
+    Action02 action02 = new Action02();
+    action02.setOrderId(orderId);
+    action02.setTaskKey(taskKey);
+
+    b2.setParam_data(action02);
+
+    sendCmd(vehicleName, b2, serialNum);
+  }
+
+  /**
+   * 撤销订单
+   * @param vehicleName 车辆名称
+   */
+  public static void cancelOrder(String vehicleName) {
+
+    //获取订单ID
+    Integer orderId = ExecuteMove.getOrderID(vehicleName);
+
+    if (orderId == null) {
+      return;
+    }
+
+    RequestB2 b2 = new RequestB2();
+
+    b2.setAction_parallel_manner(2);
+    b2.setAction_type(Operations.CANCEL.getType());
+    b2.setParam_size(8);
+
+    Action03 action03 = new Action03();
+    action03.setOrderId(orderId);
+    action03.setIsStopImmediately(0);
+
+    b2.setParam_data(action03);
+
+    sendCmd(vehicleName, b2, getSerialNum());
+  }
+
+  public static void sendCmd(String vehicleName, Object data, Integer serialNum)
+  {
+    String url = getUrl(vehicleName);
+
+    // 获取当前时间
+    LocalDateTime now = LocalDateTime.now();
+    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+    String time = now.format(formatter);
+
+//    RequestB2 b2 = buildCommand(operation, orderId, taskKey);
+    BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, data);
+
+    HttpClient httpClient = new HttpClient();
+    httpClient.sendCommand(url, baseRequestTo);
+  }
+
+  /**
+   * 设置当前执行任务key
+   */
+  public static void setExecTaskKey(String vehicleName, Integer taskKey) {
+    if (execTaskKeyMap.containsKey(vehicleName)) {
+      execTaskKeyMap.put(vehicleName, taskKey);
+    } else {
+      execTaskKeyMap.put(vehicleName, 1);
+    }
+  }
+
+  /**
+   * 获取任务key
+   */
+  public static Integer getTaskKey(String vehicleName) {
+    return execTaskKeyMap.get(vehicleName);
+  }
+
+  private static int getSerialNum() {
+    return serialNum++;
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/BrokerInterceptor.java

@@ -0,0 +1,92 @@
+package org.opentcs.communication.mqtt;
+
+import io.moquette.interception.InterceptHandler;
+import io.moquette.interception.messages.InterceptAcknowledgedMessage;
+import io.moquette.interception.messages.InterceptConnectMessage;
+import io.moquette.interception.messages.InterceptConnectionLostMessage;
+import io.moquette.interception.messages.InterceptDisconnectMessage;
+import io.moquette.interception.messages.InterceptPublishMessage;
+import io.moquette.interception.messages.InterceptSubscribeMessage;
+import io.moquette.interception.messages.InterceptUnsubscribeMessage;
+import io.netty.buffer.ByteBuf;
+import io.netty.handler.codec.mqtt.MqttQoS;
+import java.nio.charset.StandardCharsets;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/22
+ * @desc 重写MQTT代理拦截器：用于监听MQTT代理的连接、断开、发布、订阅、取消订阅、消息确认等事件
+ */
+public class BrokerInterceptor implements InterceptHandler {
+
+  /**
+   * LOG
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(BrokerInterceptor.class);
+
+  @Override public String getID() {
+    return "BrokerInterceptor_" + hashCode();
+  }
+
+  @Override
+  public Class<?>[] getInterceptedMessageTypes() {
+    return new Class<?>[] {
+        InterceptConnectMessage.class,
+        InterceptDisconnectMessage.class,
+        InterceptConnectionLostMessage.class,
+        InterceptPublishMessage.class,
+        InterceptSubscribeMessage.class,
+        InterceptUnsubscribeMessage.class,
+        InterceptAcknowledgedMessage.class,
+    };
+  }
+
+  @Override
+  public void onConnect(InterceptConnectMessage msg) {
+    LOG.info("[connect] client ID: {} connect to server", msg.getClientID());
+  }
+
+  @Override
+  public void onDisconnect(InterceptDisconnectMessage msg) {
+    LOG.info("[disconnect] client ID: {} disconnect", msg.getClientID());
+  }
+
+  @Override
+  public void onConnectionLost(InterceptConnectionLostMessage interceptConnectionLostMessage) {
+    LOG.info("[lost] client ID: {} lost connection", interceptConnectionLostMessage.getClientID());
+  }
+
+  @Override
+  public void onPublish(InterceptPublishMessage msg) {
+    // 解码消息内容
+    ByteBuf payload = msg.getPayload();
+    String content = payload.toString(StandardCharsets.UTF_8);
+
+    System.out.println("[MessageInterception] topic: " + msg.getTopicName() + ", clientID: " + msg.getClientID() + ", QoS: " + MqttQoS.valueOf(String.valueOf(msg.getQos())) + ", content: " + content);
+
+    LOG.info("[MessageInterception] topic: {}, clientID: {}, QoS: {}, content: {}",
+        msg.getTopicName(),
+        msg.getClientID(),
+        MqttQoS.valueOf(String.valueOf(msg.getQos())),
+        content);
+
+    // 必须保留引用计数，防止内存泄漏
+    payload.retain();
+
+    MqttBrokerServer mqttBrokerServer = new MqttBrokerServer();
+    mqttBrokerServer.sendToClient("v1", MqttQoS.AT_LEAST_ONCE, "hello mqtt client");
+  }
+
+  // 其他需要实现的接口方法（可以留空）
+  @Override public void onSubscribe(InterceptSubscribeMessage msg) {
+    LOG.info("[subscribe] client ID: {} subscribe topic: {}", msg.getClientID(), msg.getTopicFilter());
+  }
+  @Override public void onUnsubscribe(InterceptUnsubscribeMessage msg) {
+    LOG.info("[unsubscribe] client ID: {} unsubscribe topic: {}", msg.getClientID(), msg.getTopicFilter());
+  }
+  @Override public void onMessageAcknowledged(InterceptAcknowledgedMessage msg) {
+    LOG.info("[acknowledged] topic: {} acknowledged message: {}", msg.getTopic(), msg.getMsg());
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/MqttBrokerServer.java

@@ -0,0 +1,119 @@
+package org.opentcs.communication.mqtt;
+
+import io.moquette.broker.Server;
+import io.moquette.broker.config.IConfig;
+import io.moquette.broker.config.MemoryConfig;
+import io.moquette.broker.subscriptions.Topic;
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+import io.netty.handler.codec.mqtt.MqttFixedHeader;
+import io.netty.handler.codec.mqtt.MqttMessageType;
+import io.netty.handler.codec.mqtt.MqttPublishMessage;
+import io.netty.handler.codec.mqtt.MqttPublishVariableHeader;
+import io.netty.handler.codec.mqtt.MqttQoS;
+import java.io.IOException;
+import java.nio.charset.StandardCharsets;
+import java.util.Properties;
+import org.opentcs.common.GuestUserCredentials;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/22
+ * @desc MQTT服务
+ */
+public class MqttBrokerServer {
+
+  private static final Logger LOG = LoggerFactory.getLogger(MqttBrokerServer.class);
+  private Server mqttServer;
+
+  public MqttBrokerServer() {
+    mqttServer = new Server();
+  }
+
+  /**
+   * start MQTT server
+   * @throws IOException start MQTT server
+   */
+  public void startMqtt() {
+    try {
+      // 从资源目录加载配置文件
+      Properties configProps = new Properties();
+      try (var input = getClass().getResourceAsStream("/mqtt.conf")) {
+        if (input == null) {
+          throw new IOException("profiles [mqtt.conf] not found");
+        }
+        configProps.load(input);
+      }
+
+      // 使用配置文件初始化
+      IConfig config = new MemoryConfig(configProps);
+
+      mqttServer.startServer(config);
+      mqttServer.addInterceptHandler(new BrokerInterceptor());
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+
+  }
+
+  /**
+   * 关闭MQTT服务
+   */
+  public void stopMqtt() {
+    mqttServer.stopServer();
+    LOG.info("MQTT service stopped successfully");
+  }
+
+  /**
+   * 发送消息给指定客户端 todo 待实现
+   * @param clientId 客户端ID 暂时定义为车辆ID
+   * @param qosLevel 服务质量等级
+   * @param message 消息
+   */
+  public void sendToClient(String clientId, MqttQoS qosLevel, String message) {
+    LOG.info("Sending message to client: {}, MqttQoS: {}, message: {}", clientId, qosLevel, message);
+
+
+    String topicPath = TopicBuilder.buildCommandTopic(clientId);
+    Topic topic = new Topic(topicPath);
+
+    MqttFixedHeader fixedHeader = new MqttFixedHeader(
+        MqttMessageType.PUBLISH,  // 消息类型
+        false,       // 是否重复发送
+        qosLevel,    // 服务质量等级: QoS 0 – 最多交付一次,可能丢失消息; QoS 1 – 至少交付一次,可以保证收到消息，但消息可能重复; QoS 2 – 只交付一次,使用 QoS 2 可以保证消息既不丢失也不重复,开销最高
+        false,       // 是否保留消息
+        0            // 剩余长度（自动计算）
+    );
+
+    MqttPublishVariableHeader variableHeader = new MqttPublishVariableHeader(
+        topic.toString(),     // 主题
+        qosLevel.value()      // 服务质量等级
+    );
+
+    // 将消息内容转换为ByteBuf
+    byte[] payload = message.getBytes(StandardCharsets.UTF_8);
+    ByteBuf payloadBuf = Unpooled.copiedBuffer(payload);
+    MqttPublishMessage publishMessage = new MqttPublishMessage(
+        fixedHeader,
+        variableHeader,
+        payloadBuf
+    );
+
+
+    try {
+      // 发布消息到指定客户端
+      mqttServer.internalPublish(
+          publishMessage,
+          clientId  // 指定接收客户端ID
+      );
+      LOG.debug("Sent to {} ,topic {} QoS:{} message {}",
+          clientId, topic, qosLevel, message);
+    } finally {
+      if (!publishMessage.payload().isReadable()) {
+        publishMessage.payload().release(); // 确保释放
+      }
+    }
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/MqttClientExample.java

@@ -0,0 +1,69 @@
+package org.opentcs.communication.mqtt;
+
+import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttCallback;
+import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
+
+public class MqttClientExample {
+
+  public static void main(String[] args) {
+    String broker = "tcp://192.168.124.114:1883";
+    String clientId = "50";
+    String topic = "vehicles/50/commands";
+    int qos = 1;
+
+    try (MqttClient client = new MqttClient(broker, clientId, new MemoryPersistence())) {
+      // 配置连接选项
+      MqttConnectOptions options = new MqttConnectOptions();
+      options.setCleanSession(true);
+      options.setAutomaticReconnect(true);
+
+      // 设置回调
+      client.setCallback(new SimpleMqttCallback());
+
+      // 连接
+      client.connect(options);
+      System.out.println("Connected to broker");
+
+      // 先订阅后发布
+      client.subscribe(topic, qos);
+      System.out.println("Subscribed to: " + topic);
+
+      // 发布消息
+      String content = "Hello, MQTT";
+
+      for (int i = 0; i < 10; i++) {
+        client.publish(topic, content.getBytes(), qos, false);
+        Thread.sleep(300);
+      }
+
+      // 等待接收消息
+      Thread.sleep(5000);
+
+    } catch (MqttException | InterruptedException e) {
+      e.printStackTrace();
+    }
+  }
+
+  private static class SimpleMqttCallback implements MqttCallback {
+    @Override
+    public void connectionLost(Throwable cause) {
+      System.err.println("Connection lost: " + cause.getMessage());
+    }
+
+    @Override
+    public void messageArrived(String topic, MqttMessage message) {
+      System.out.printf("[%s] Received: %s%n", topic, new String(message.getPayload()));
+    }
+
+    @Override
+    public void deliveryComplete(IMqttDeliveryToken token) {
+      System.out.println("Message delivered");
+    }
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/TopicBuilder.java

@@ -0,0 +1,20 @@
+package org.opentcs.communication.mqtt;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/22
+ * @desc 返回mqtt主题
+ */
+public class TopicBuilder {
+
+  //预定义模板
+  private static final String COMMAND_TOPIC_TEMPLATE = "vehicles/%s/commands";
+
+  /**
+   * 构建命令主题（带QoS验证）
+   */
+  public static String buildCommandTopic(String clientId) {
+    return String.format(COMMAND_TOPIC_TEMPLATE, clientId);
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/BaseRequestTo.java

@@ -0,0 +1,44 @@
+package org.opentcs.communication.mqtt.entity;
+
+import jakarta.annotation.Nonnull;
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体基类
+ */
+@Data
+public class BaseRequestTo {
+
+  public BaseRequestTo(
+      @Nonnull Integer type,
+      @Nonnull String sender,
+      @Nonnull String receiver,
+      @Nonnull Integer serial_num,
+      @Nonnull String time,
+      @Nonnull Object data
+  ) {
+    this.type = type;
+    this.sender = sender;
+    this.receiver = receiver;
+    this.data = data;
+  }
+
+  @Nonnull
+  private Integer type;
+
+  @Nonnull
+  private String sender;
+
+  @Nonnull
+  private String receiver;
+
+  @Nonnull
+  private Integer serial_num;
+
+  @Nonnull
+  private String time;
+
+  private Object data;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/action/RequestAction.java

@@ -0,0 +1,16 @@
+package org.opentcs.communication.mqtt.entity.kc.action;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ */
+@Data
+public class RequestAction {
+
+  /**
+   * 动作
+   */
+  private String action;
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/move/Path.java

@@ -0,0 +1,37 @@
+package org.opentcs.communication.mqtt.entity.kc.move;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class Path {
+
+  /**
+   * 路径ID
+   */
+  private Integer path_id;
+  /**
+   * 路径序列号: 从 1 开始奇数递增，例如：1->3->5->7……
+   */
+  private Integer path_serial;
+  /**
+   * 机器人固定角度: 0 = 不指定
+   */
+  private float path_angle;
+  /**
+   * 行驶姿态: 0x0 正走,0x1 倒走,0x02 左横移（支持横移类底盘进,行二维码导航时生效）,0x03 右横移（支持横移类底盘进行二维码导航时生效）
+   */
+  private Integer drive_pose;
+  /**
+   * 指定的目标最大速度
+   */
+  private float max_speed;
+  /**
+   * 指定的目标最大角速度
+   */
+  private float max_angle_speed;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/move/Point.java

@@ -0,0 +1,25 @@
+package org.opentcs.communication.mqtt.entity.kc.move;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class Point {
+
+  /**
+   * 点ID
+   */
+  private Integer point_id;
+  /**
+   * 点序列号: 从 0开始偶数递增，例如：0->2->4->6……
+   */
+  private Integer point_serial;
+  /**
+   * 角度：0=不指定角度
+   */
+  private double point_angle;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/move/RequestAe.java

@@ -0,0 +1,45 @@
+package org.opentcs.communication.mqtt.entity.kc.move;
+
+import jakarta.annotation.Nonnull;
+import java.util.ArrayList;
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class RequestAe {
+
+  public RequestAe() {}
+
+  /**
+   * 订单ID
+   */
+  @Nonnull
+  private Integer orderId;
+  /**
+   * 任务ID task_key: 任务的唯一标识。与订单 ID 绑定，从 1 开始，当同一订单下发新的资源时加 1；
+   */
+  @Nonnull
+  private Integer taskKey;
+  /**
+   * 点个数 point_size
+   */
+  @Nonnull
+  private Integer pointSize;
+  /**
+   * 路径个数 path_size
+   */
+  @Nonnull
+  private Integer pathSize;
+  /**
+   * 点信息结构
+   */
+  private ArrayList<Point> point;
+  /**
+   * 路线信息结构
+   */
+  private ArrayList<Path> path;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/Action01.java

@@ -0,0 +1,17 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 实体类
+ */
+@Data
+public class Action01 {
+
+  /**
+   * 是否立即停止移动: 0：机器人正常移动到点上停止（停不下来就移动到下一个点）, 1：立刻停止(缓停)；
+   */
+  private Integer isStopImmediately;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/Action02.java

@@ -0,0 +1,21 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/13
+ * @desc 实体类
+ */
+@Data
+public class Action02 {
+
+  /**
+   * 订单ID
+   */
+  private Integer orderId;
+  /**
+   * 任务key
+   */
+  private Integer taskKey;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/Action03.java

@@ -0,0 +1,21 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/13
+ * @desc 实体类
+ */
+@Data
+public class Action03 {
+
+  /**
+   * 订单ID
+   */
+  private Integer orderId;
+  /**
+   * 是否立即停止移动: 1 立刻停止(缓停)；0 AGV 正常移动到点上停止（停不下来就移动到下一个点）
+   */
+  private Integer isStopImmediately;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/RequestB2.java

@@ -0,0 +1,25 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 实体类
+ */
+@Data
+public class RequestB2 {
+
+  /**
+   * 动作类型-》填写动作命令码
+   */
+  private Integer actionType;
+  /**
+   * 执行动作并行方式: 0x00：为移动和动作间都可并行, 0x01：为动作间可以并行，不能移动, 0x02 只能执行当前动作
+   */
+  private Integer actionParallelManner;
+  /**
+   * 参数内容长度
+   */
+  private Integer paramSize;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/enums/Actions.java

@@ -0,0 +1,29 @@
+package org.opentcs.communication.mqtt.enums;
+
+public enum Actions {
+
+  //取请求
+  PICK_UP_REQUEST,
+  //放请求
+  RELEASE_REQUEST,
+  //充电
+  CHARGE,
+  //取消充电
+  CANCEL_CHARGE
+  ;
+
+  /**
+   * 判断是否存在当前动作
+   * @param value
+   * @return 存在返回true，不存在返回false
+   */
+  public static boolean contains(String value) {
+    for (Actions actions : Actions.values()) {
+      if (actions.name().equals(value)) {
+        return true;
+      }
+    }
+    return false;
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/enums/KcActionCmdEnum.java

@@ -0,0 +1,75 @@
+package org.opentcs.communication.mqtt.enums;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 将十进制value，绑定到小端模式16进制key
+ */
+public enum KcActionCmdEnum {
+
+  CMD_ACTION_0x01(0x01, 1),   //暂停车辆
+  CMD_ACTION_0x02(0x02, 2),   //恢复订单执行
+  CMD_ACTION_0x03(0x03, 3);   //取消任务
+
+  private Integer key;
+  private Integer value;
+
+  KcActionCmdEnum(Integer key, Integer value) {
+    this.key = key;
+    this.value = value;
+  }
+
+  public Integer getKey() {
+    return key;
+  }
+
+  public void setKey(Integer key) {
+    this.key = key;
+  }
+
+  public Integer getValue() {
+    return value;
+  }
+
+  public void setValue(Integer value) {
+    this.value = value;
+  }
+
+  // 静态缓存，提升查询性能
+  private static final Map<Integer, KcActionCmdEnum> KEY_MAP = new HashMap<>();
+
+  static {
+    // 初始化时将所有枚举实例的键值存入Map
+    for (KcActionCmdEnum entry : values()) {
+      if (KEY_MAP.containsKey(entry.key)) {
+        throw new IllegalStateException("REPEATED KEY: " + entry.key);
+      }
+      KEY_MAP.put(entry.key, entry);
+    }
+  }
+
+  /**
+   * 根据key获取对应的value
+   * @param key 要查找的键
+   * @return 对应的值
+   * @throws IllegalArgumentException 如果key不存在
+   */
+  public static Integer getValueByKey(Integer key) {
+    KcActionCmdEnum entry = KEY_MAP.get(key);
+    if (entry == null) {
+      throw new IllegalArgumentException("无效的key: " + key);
+    }
+    return entry.value;
+  }
+
+  /**
+   * 根据key获取完整的枚举实例
+   */
+  public static KcActionCmdEnum getEntryByKey(Integer key) {
+    return KEY_MAP.get(key);
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/enums/KcCmdEnum.java

@@ -0,0 +1,86 @@
+package org.opentcs.communication.mqtt.enums;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 将十进制value，绑定到小端模式16进制key
+ */
+public enum KcCmdEnum {
+
+  CMD_0x02(0x02, 2),      //读多变量
+  CMD_0x03(0x03, 3),      //写多变量
+  CMD_0x14(0x14, 20),     //执行机器人手动定位
+  CMD_0x17(0x17, 23),     //查询机器人运行状态
+  CMD_0x1F(0x1F, 31),     //确认初始位置
+  CMD_0xAE(0xAE, 174),    //导航指令
+  CMD_0xAF(0xAF, 175),    //获取AGV详细信息
+  CMD_0xB0(0xB0, 176),    //查询载货状态
+  CMD_0xB2(0xB2, 178);    //订阅AGV信息
+
+  /**
+   * 小端模式十六进制命令码
+   */
+  private Integer key;
+  /**
+   * 十进制命令码
+   */
+  private Integer value;
+
+  KcCmdEnum(Integer key, Integer value) {
+    this.key = key;
+    this.value = value;
+  }
+
+  public Integer getKey() {
+    return key;
+  }
+
+  public void setKey(Integer key) {
+    this.key = key;
+  }
+
+  public Integer getValue() {
+    return value;
+  }
+
+  public void setValue(Integer value) {
+    this.value = value;
+  }
+
+  // 静态缓存，提升查询性能
+  private static final Map<Integer, KcCmdEnum> KEY_MAP = new HashMap<>();
+
+  static {
+    // 初始化时将所有枚举实例的键值存入Map
+    for (KcCmdEnum entry : values()) {
+      if (KEY_MAP.containsKey(entry.key)) {
+        throw new IllegalStateException("REPEATED KEY: " + entry.key);
+      }
+      KEY_MAP.put(entry.key, entry);
+    }
+  }
+
+  /**
+   * 根据key获取对应的value
+   * @param key 要查找的键
+   * @return 对应的值
+   * @throws IllegalArgumentException 如果key不存在
+   */
+  public static Integer getValueByKey(Integer key) {
+    KcCmdEnum entry = KEY_MAP.get(key);
+    if (entry == null) {
+      throw new IllegalArgumentException("无效的key: " + key);
+    }
+    return entry.value;
+  }
+
+  /**
+   * 根据key获取完整的枚举实例
+   */
+  public static KcCmdEnum getEntryByKey(Integer key) {
+    return KEY_MAP.get(key);
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/tcp/TcpClient.java

@@ -0,0 +1,223 @@
+package org.opentcs.communication.tcp;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.io.PrintWriter;
+import java.net.Socket;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicBoolean;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class TcpClient
+    implements AutoCloseable {
+
+  private static final Logger LOG = LoggerFactory.getLogger(TcpClient.class);
+
+  // 配置参数
+  private final String serverIp;
+  private final int serverPort;
+  private final int heartbeatInterval;  // 心跳间隔（秒）
+  private final int reconnectInterval;  // 重连间隔（秒）
+
+  // 网络连接
+  private Socket socket;
+  private PrintWriter writer;     //输入
+  private BufferedReader reader;  //输出
+
+  // 状态管理
+  private final AtomicBoolean connected = new AtomicBoolean(false);
+  private final AtomicBoolean running = new AtomicBoolean(true);
+
+  // 线程池
+  private final ScheduledExecutorService executor = Executors.newScheduledThreadPool(3);
+
+  // 监听器接口
+  public interface TcpListener {
+    void onMessageReceived(String message);
+    void onConnectionStatusChanged(boolean connected);
+  }
+  private TcpListener listener;
+
+  public TcpClient(String ip, int port) {
+    this.serverIp = ip;
+    this.serverPort = port;
+    this.heartbeatInterval = 5;
+    this.reconnectInterval = 3;
+  }
+
+  public void setListener(TcpListener listener) {
+    this.listener = listener;
+  }
+
+  public void connect() {
+    executor.execute(() -> {
+      while (running.get()) {
+        try {
+          initConnection();
+          startHeartbeat();
+          startReading();
+          setConnected(true);
+
+          // 保持重连循环中断
+          TimeUnit.SECONDS.sleep(Long.MAX_VALUE);
+        }
+        catch (InterruptedException e) {
+          Thread.currentThread().interrupt();
+        }
+        catch (Exception e) {
+          setConnected(false);
+          System.err.println("Connection error: " + e.getMessage());
+          LOG.debug("Connection error: " + e.getMessage());
+        }
+
+        tryReconnect();
+      }
+    });
+  }
+
+  private void initConnection() throws IOException {
+    socket = new Socket(serverIp, serverPort);
+    socket.setKeepAlive(true);
+    writer = new PrintWriter(socket.getOutputStream(), true);
+    reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
+  }
+
+  /**
+   * 启动定时任务，每隔固定时间（heartbeatInterval）发送一次心跳包,只有在客户端处于连接状态（connected为true）时才发送。
+   */
+  private void startHeartbeat() {
+    executor.scheduleAtFixedRate(() -> {
+      if (connected.get()) {
+        sendData("HEARTBEAT");
+      }
+    }, heartbeatInterval, heartbeatInterval, TimeUnit.SECONDS);
+  }
+
+  /**
+   * 从服务器读取消息
+   */
+  private void startReading() {
+    executor.execute(() -> {
+      try {
+        String inputLine;
+        while ((inputLine = reader.readLine()) != null) {
+          if (listener != null) {
+            listener.onMessageReceived(inputLine);
+          }
+        }
+      }
+      catch (IOException e) {
+        setConnected(false);
+      }
+    });
+  }
+
+  /**
+   * 重连 TCP 服务器
+   */
+  private void tryReconnect() {
+    if (!running.get()) return;
+
+    System.out.println("Attempting reconnect in " + reconnectInterval + "s...");
+    LOG.debug("Attempting reconnect in " + reconnectInterval + "s...");
+    try {
+      TimeUnit.SECONDS.sleep(reconnectInterval);
+    }
+    catch (InterruptedException e) {
+      Thread.currentThread().interrupt();
+    }
+  }
+
+  /**
+   * 发送数据
+   * @param data 数据
+   */
+  public synchronized void sendData(String data) {
+    if (connected.get()) {
+      writer.println(data);
+    }
+  }
+
+  /**
+   * 设置连接状态
+   * @param status 状态
+   */
+  private void setConnected(boolean status) {
+    connected.set(status);
+    if (listener != null) {
+      listener.onConnectionStatusChanged(status);
+    }
+  }
+
+  /**
+   * 获取连接状态
+   * @return boolean
+   */
+  public boolean getConnected() {
+    return connected.get();
+  }
+
+  /**
+   * 关闭连接
+   */
+  @Override
+  public void close() {
+    running.set(false);
+    executor.shutdownNow();
+
+    try {
+      if (socket != null) socket.close();
+      if (writer != null) writer.close();
+      if (reader != null) reader.close();
+    }
+    catch (IOException e) {
+      System.err.println("Close error: " + e.getMessage());
+      LOG.debug("Close error: " + e.getMessage());
+    }
+  }
+
+  // 使用示例
+  public static void main(String[] args) throws InterruptedException {
+    // 创建客户端实例
+    TcpClient client = new TcpClient("192.168.124.114", 60000);
+
+    // 设置监听器
+    client.setListener(new TcpListener() {
+      @Override
+      public void onMessageReceived(String message) {
+        System.out.println("[RESPONSE] " + message);
+        LOG.debug("[RESPONSE] " + message);
+      }
+
+      @Override
+      public void onConnectionStatusChanged(boolean connected) {
+        System.out.println("[STATE] CONNECTION-STATUS: " + (connected ? "SUCCESS" : "FAIL"));
+        LOG.debug("[STATE] CONNECTION-STATUS: " + (connected ? "SUCCESS" : "FAIL"));
+      }
+    });
+
+    // 启动连接
+    client.connect();
+
+    // 等待连接建立
+    Thread.sleep(2000);
+
+    // 发送测试数据
+    new Thread(() -> {
+      for (int i = 1; i <= 3; i++) {
+        String data = "TEST MESSAGE-" + i;
+        System.out.println("[SEND] " + data);
+        client.sendData(data);
+        try {
+          Thread.sleep(1500);
+        } catch (InterruptedException e) {
+          Thread.currentThread().interrupt();
+        }
+      }
+    }).start();
+  }
+}

opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java

@@ -106,27 +106,27 @@ public class KCCommandDemo {
 //            }
 //        }
 
-//        {
-//            //0x02(read操作)
-//            AgvEvent agvEvent = readValue();
-//            printInfo(agvEvent);
-//            RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
-//            if(rcv.isOk()){
-//                System.out.println();
-//                System.out.println("received transationId : "+ "isok:"+rcv.isOk());
-//                printInfo(rcv);
-//                ReadRsp readRsp = new ReadRsp(rcv.getDataBytes());
-//                if(readRsp.isOk()){
-//                    //get and parse value
-//                    System.out.println("read ok");
-//                }else {
-//                    System.out.println("read failed");
-//                }
-//            }else {
-//                System.out.println();
-//                System.out.println("received transationId : "+ "isok:"+rcv.isOk());
-//            }
-//        }
+        {
+            //0x02(read操作)
+            AgvEvent agvEvent = readValue();
+            printInfo(agvEvent);
+            RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+            if(rcv.isOk()){
+                System.out.println();
+                System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+                printInfo(rcv);
+                ReadRsp readRsp = new ReadRsp(rcv.getDataBytes());
+                if(readRsp.isOk()){
+                    //get and parse value
+                    System.out.println("read ok");
+                }else {
+                    System.out.println("read failed");
+                }
+            }else {
+                System.out.println();
+                System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+            }
+        }
 
 //        {
 //            //0x03(切换手自动)
@@ -277,11 +277,11 @@ public class KCCommandDemo {
 //      Thread.sleep(100);
 //      ActImmediately.reset();
 //    }
-    {
-
-      float height = 1.3f;
-      byte modeOfMovement = 0x01;
-      ActImmediately.allotsOperation(height, modeOfMovement);
+//    {
+//
+//      float height = 1.3f;
+//      byte modeOfMovement = 0x01;
+//      ActImmediately.allotsOperation(height, modeOfMovement);
 
 //      //读取动作执行状态
 //      ActImmediately.readActionState();
@@ -301,7 +301,7 @@ public class KCCommandDemo {
 //      ActImmediately.readActionState();
 //
 //      ActImmediately.ACTION_EXECUTE_STATE = false;
-    }
+//    }
 
 //    {
 //            ActImmediately.reset();
@@ -592,7 +592,7 @@ public class KCCommandDemo {
 
   public static AgvEvent manualLocation() {
     AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ROBOT_SET_POSITION);
-    RobotSetPosition robotSetPosition = new RobotSetPosition(11, 11, 11);
+    RobotSetPosition robotSetPosition = new RobotSetPosition(3, 2, 1);
     byte[] bytes = robotSetPosition.toBytes();
     agvEvent.setBody(bytes);
     return agvEvent;

opentcs-common/src/main/java/org/opentcs/kc/udp/Service/HybridNavigation.java

@@ -49,7 +49,7 @@ public class HybridNavigation
   /**
    * 订单映射最大订单ID.
    */
-  private static int currentMaxiOrderId = 50;
+  private static int currentMaxiOrderId = 0;
 
 
   /**

opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java

@@ -0,0 +1,169 @@
+package org.opentcs.manage;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import java.util.Date;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+import org.opentcs.common.GuestUserCredentials;
+import org.opentcs.manage.entity.AgvInfo;
+import org.opentcs.manage.entity.AgvInfoParams;
+import org.opentcs.manage.entity.AgvStatus;
+import org.opentcs.util.KernelCommunication;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ */
+public class AdapterManage {
+
+  /**
+   * LOG
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(AdapterManage.class);
+  /**
+   * 创建调度线程池（单线程）
+   */
+  private static final ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
+  /**
+   * Kernel服务对象
+   */
+  private static KernelCommunication kernel;
+  /**
+   * 记录对应通讯适配器数据
+   * 基于线程安全HASHMAP
+   */
+  private static final ConcurrentHashMap<String, AgvStatus> adapterStatusMap = new ConcurrentHashMap<>();
+  /**
+   * 设置自动关闭适配器时间阈值，单位：毫秒
+   */
+  private static final Long AUTO_CLOSE_TIME = 2000L;
+
+  //开启通讯信息
+  private static final String USER = GuestUserCredentials.USER;
+  private static final String PASSWORD = GuestUserCredentials.PASSWORD;
+  private static final String IP = GuestUserCredentials.IP;
+  private static final Integer PORT = GuestUserCredentials.PORT;
+
+  //开启定时任务
+  public void START() {
+    scheduler.scheduleWithFixedDelay(task, 5000, 1000, TimeUnit.MILLISECONDS);
+  }
+
+  //关闭定时任务
+  public void STOP() {
+    scheduler.shutdownNow();
+  }
+
+  Runnable task = () -> {
+
+    kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);
+
+    autoManageAdapterStatus();
+
+    kernel.logout();
+  };
+
+  /**
+   * 自动管理通讯适配器
+   */
+  private void autoManageAdapterStatus() {
+    Date date = new Date();
+    long currentTime = date.getTime();
+
+//    System.out.println("autoManageAdapterStatus sout: " + adapterStatusMap);
+    adapterStatusMap.forEach((key, value) -> {
+//      LOG.info("adapterStatusMap starts name: {}", key);
+
+      AgvStatus agvStatus = new AgvStatus();
+      agvStatus.setTime(value.getTime());
+
+      if (currentTime - value.getTime() > AUTO_CLOSE_TIME) {
+        //当前时间减去记录时间大于阈值，自动关闭通讯适配器
+        kernel.disableAdapter(key);
+//        agvStatus.setStatus(AdapterStatus.DISABLE);
+        adapterStatusMap.remove(key);
+        LOG.info("disable the adapter: {}", key);
+      } else {
+        //通讯适配器当前状态为关闭，设置状态为开启时才会进入
+        kernel.enableAdapter(key);
+        agvStatus.setStatus(AdapterStatus.ENABLE);
+        //更新记录数据
+        adapterStatusMap.put(key, agvStatus);
+        LOG.info("enable the adapter: {}", key);
+      }
+    });
+  }
+
+  /**
+   * 更新通讯适配器状态
+   * @param name 车辆名称
+   */
+  public static void setAdapterStatus(String name) {
+    AgvStatus newAgvStatus = new AgvStatus();
+
+    Date date = new Date();
+    newAgvStatus.setTime(date.getTime());
+
+    if (!adapterStatusMap.isEmpty() && adapterStatusMap.containsKey(name)) {
+      //已记录，只更新时间
+      newAgvStatus.setStatus(AdapterStatus.ENABLE);
+    } else {
+      //未记录，初始化
+      newAgvStatus.setStatus(AdapterStatus.DISABLE);
+    }
+
+    adapterStatusMap.put(name, newAgvStatus);
+  }
+
+  /**
+   * 记录对应通讯适配器最后一次上报数据
+   * @param name 车辆名称
+   * @param data 数据
+   */
+  public static AgvInfo setAdapterVehicleModel(String name, String data) {
+
+    JSONObject jsonObject = JSON.parseObject(data);
+
+    AgvInfo agvInfo = new AgvInfo();
+    agvInfo.setSender(jsonObject.getString("sender"));
+    agvInfo.setReceiver(jsonObject.getString("receiver"));
+    agvInfo.setType(jsonObject.getInteger("type"));
+    agvInfo.setSerial_num(jsonObject.getInteger("serial_num"));
+    agvInfo.setTime(jsonObject.getString("time"));
+    agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));
+
+    return agvInfo;
+  }
+
+  private static AgvInfoParams getAgvInfoParams(String paramsStr) {
+    JSONObject params = JSON.parseObject(paramsStr);
+    AgvInfoParams agvInfoParams = new AgvInfoParams();
+    agvInfoParams.setX(params.getFloat("x"));
+    agvInfoParams.setY(params.getFloat("y"));
+    agvInfoParams.setAngle(params.getFloat("angle"));
+    agvInfoParams.setPoint(params.getInteger("point"));
+    agvInfoParams.setPower(params.getFloat("power"));
+    agvInfoParams.setError(params.getString("error"));
+    agvInfoParams.setError_level(params.getInteger("error_level"));
+    agvInfoParams.setCargo_status(params.getInteger("cargo_status"));
+    agvInfoParams.setAgv_status(params.getInteger("agv_status"));
+    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;
+  }
+
+  /**
+   * 状态管理
+   */
+  public interface AdapterStatus {
+    Boolean ENABLE = true;
+    Boolean DISABLE = false;
+  }
+}

opentcs-common/src/main/java/org/opentcs/manage/entity/AgvActionStatus.java

@@ -0,0 +1,13 @@
+package org.opentcs.manage.entity;
+
+import lombok.Data;
+
+@Data
+public class AgvActionStatus {
+
+  /**
+   * 状态: true = 动作执行完成，false = 未知，不做处理
+   */
+  private Boolean status;
+
+}

opentcs-common/src/main/java/org/opentcs/manage/entity/AgvInfo.java

@@ -0,0 +1,36 @@
+package org.opentcs.manage.entity;
+
+import lombok.Data;
+
+@Data
+public class AgvInfo {
+
+  /**
+   * 发送方
+   */
+  private String sender;
+  /**
+   * 接收
+   */
+  private String receiver;
+  /**
+   * 消息类型
+   */
+  private Integer type;
+  /**
+   * 序列号
+   */
+  private Integer serial_num;
+  /**
+   * 车辆名称
+   */
+  private String vehicle_name;
+  /**
+   * 时间
+   */
+  private String time;
+  /**
+   * 详细数据
+   */
+  private AgvInfoParams params;
+}

opentcs-common/src/main/java/org/opentcs/manage/entity/AgvInfoParams.java

@@ -0,0 +1,59 @@
+package org.opentcs.manage.entity;
+
+import lombok.Data;
+
+@Data
+public class AgvInfoParams {
+  /**
+   * X坐标
+   */
+  private Float x;
+  /**
+   * Y坐标
+   */
+  private Float y;
+  /**
+   * 角度
+   */
+  private Float angle;
+  /**
+   * 最终经过点
+   */
+  private Integer point;
+  /**
+   * 电池电量
+   */
+  private float power;
+  /**
+   * 异常信息
+   */
+  private String error;
+  /**
+   * 异常等级：信息 = 0x00；警告 = 0x01；错误 = 0x02；
+   */
+  private Integer error_level;
+  /**
+   * agv状态：空闲 = 0，运行 = 1，暂停 = 2，初始化中= 3，无法执行任务，时的状态，如（开机后无位置、下，载地图中、程序初始化中等情况），人工确认 = 4，未初始化=5，（未设置能力集）
+   */
+  private Integer agv_status;
+  /**
+   * 载货状态：0=无货物，1=有货物
+   */
+  private Integer cargo_status;
+  /**
+   * 工作模式：待机 = 0，手动 = 1，半自动 = 2，自动 = 3，示教 = 4，服务 = 5（升级程序中的工作，状态），维修 = 6
+   */
+  private Integer agv_model;
+  /**
+   * 充电情况：放电=0，充电=1
+   */
+  private Integer charge_status;
+  /**
+   * 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-common/src/main/java/org/opentcs/manage/entity/AgvStatus.java

@@ -0,0 +1,16 @@
+package org.opentcs.manage.entity;
+
+import lombok.Data;
+
+@Data
+public class AgvStatus {
+
+  /**
+   * 更新时间
+   */
+  private Long time;
+  /**
+   * 通讯适配器修改状态：trye=开启，false=关闭
+   */
+  private Boolean status;
+}

opentcs-common/src/main/java/org/opentcs/park/ParkStrategy.java

@@ -0,0 +1,21 @@
+package org.opentcs.park;
+
+import java.util.ArrayList;
+import org.opentcs.park.entity.Park;
+
+public class ParkStrategy {
+
+  private static ArrayList<Park> allPark = new ArrayList<>();
+
+
+  public static void setPark(Park park) {
+    allPark.add(park);
+    printPark();
+  }
+
+  private static void printPark() {
+    for (Park park : allPark) {
+      System.out.println("print park:" + park.getName() + ", status:" + park.getStatus());
+    }
+  }
+}

opentcs-common/src/main/java/org/opentcs/park/entity/Park.java

@@ -0,0 +1,17 @@
+package org.opentcs.park.entity;
+
+import lombok.Data;
+
+@Data
+public class Park {
+
+  /**
+   * 休息点名称
+   */
+  private String name;
+  /**
+   * 休息点状态: true=已被占用， false=空闲
+   */
+  private Boolean status;
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/TrafficControl.java

@@ -0,0 +1,102 @@
+package org.opentcs.traffic;
+
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+import org.opentcs.traffic.common.AvoidanceAlgorithm;
+import org.opentcs.traffic.common.ContourAlgorithm;
+import org.opentcs.traffic.common.ResourceLock;
+import org.opentcs.util.KernelCommunication;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @Date 2025-5-12
+ * @description 交管策略实现类
+ */
+public class TrafficControl {
+
+  /**
+   * 日志
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(TrafficControl.class);
+  /**
+   * 已占用资源对象
+   */
+  private static final ResourceLock resourceLock = new ResourceLock();
+  /**
+   * 轮廓算法
+   */
+  private static final ContourAlgorithm contourAlgorithm = new ContourAlgorithm();
+  /**
+   * 交管避让权重算法
+   */
+  private static final AvoidanceAlgorithm  avoidanceAlgorithm = new AvoidanceAlgorithm();
+  /**
+   * 创建调度线程池（单线程）
+   */
+  private static final ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
+
+  //开启定时任务
+  public void START() {
+    scheduler.scheduleWithFixedDelay(task, 0, 500, TimeUnit.MILLISECONDS);
+  }
+
+  //关闭定时任务
+  public void STOP() {
+    scheduler.shutdownNow();
+  }
+
+  Runnable task = () -> {
+    //轮廓避障算法
+  };
+
+  
+
+  /**
+   * 交通管制策略
+   * @param vehiclePosition 车辆当前位置
+   * @param finalOccupiedPosition 车辆最终占用点位
+   * @param resource 资源
+   * @param type 类型
+   * @return 是否可执行
+   */
+  public static boolean trafficControlStrategy(String vehiclePosition, String finalOccupiedPosition, String resource, String type) {
+
+    //进行资源占用
+//    boolean lockStatus = resourceLock.trafficControlOccupy(vehiclePosition, finalOccupiedPosition, resource, type);
+//    if (!lockStatus) {
+//      LOG.debug("trafficControlStrategy Failed to lock resource: {} type: {}", resource, type);
+//      return false;
+//    }
+
+    //todo: 轮廓算法，判断下一个点位是否会被其他车辆干涉
+//    boolean contourStatus = contourAlgorithm.interferenceDetection();
+//    if (!contourStatus) {
+//      LOG.debug("trafficControlStrategy Contour algorithm failed: resource: {} type: {}", resource, type);
+//      return false;
+//    }
+
+    //todo: 订单避让算法，根据权重计算车辆优先级执行避让算法
+//    boolean avoidanceStatus = avoidanceAlgorithm.weightCalculation();
+//    if (!avoidanceStatus) {
+//      LOG.debug("trafficControlStrategy Avoidance algorithm failed: resource: {} type: {}", resource, type);
+//      return false;
+//    }
+
+    //有所有校验通过，返回true
+    return true;
+  }
+
+  /**
+   * 步骤执行结束，释放对应资源
+   * @param resource 资源
+   * @param type 类型
+   */
+  public static void trafficControlRelease(String resource, String type) {
+    resourceLock.trafficControlRelease(resource, type);
+  }
+
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/common/AvoidanceAlgorithm.java

@@ -0,0 +1,21 @@
+package org.opentcs.traffic.common;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class AvoidanceAlgorithm {
+
+  private static final Logger LOG = LoggerFactory.getLogger(AvoidanceAlgorithm.class);
+
+  /**
+   * 思路：判断当前车辆是否和其他车辆路径有重叠
+   *
+   * @return true: 订单避让算法通过，false: 订单避让算法不通过
+   */
+  public boolean weightCalculation() {
+
+
+    return true;
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java

@@ -0,0 +1,47 @@
+package org.opentcs.traffic.common;
+
+import java.awt.geom.Point2D;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 轮廓算法
+ */
+public class ContourAlgorithm {
+
+  private static final Logger LOG = LoggerFactory.getLogger(ContourAlgorithm.class);
+
+  /**
+   * 多车轮廓干扰检测
+   *
+   * desc：当前车辆需要占用的下一个点位的x、y坐标。在点位坐标根据车辆长、宽计算车辆轮廓，
+   * 通过上报获取所有车辆的x，y坐标，计算轮廓,
+   * 最终通过剩余车辆的x、y坐标，判断是否与当前车辆轮廓重叠，重叠则不通过，否则通过。
+   *
+   * 使用算法时间节点：
+   * 1.车辆运行中，每次递归都进行判断？------（运行效率可能会低，当车辆数量上升时服务器性能有要求）车辆运行中指定时间间隔后执行轮廓检测。
+   *    优化方案：1：为减小压力，应该在车辆连接时计算车辆轮廓，，，，可行性：低。考虑：车辆轮廓不是根据实时坐标计算，是否有算法可以将车辆轮廓移到当前坐标上。会不会有误差？？？
+   *            2：递归时间节点层面延长线程阻塞时间方法，，，可行性：高。
+   *    待验证：算法实现？算法效率问题？
+   * 2.车辆下发运动指令前检测？-------（运行效率高）下发前检测，车辆运动中无轮廓检测。可能会发生？当前车辆不知道其他车辆位置，可能会撞车。--------放弃，会有撞车风险
+   *
+   * @return true,可通过，false，不通过
+   */
+  public boolean interferenceDetection(Point2D.Double center) {
+
+//    center.setLocation(0.0, 0.0);
+
+    GeometryFactory geometryFactory = new GeometryFactory();
+    Coordinate[] coords = {
+
+    };
+
+
+    return true;
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/common/ResourceLock.java

@@ -0,0 +1,203 @@
+package org.opentcs.traffic.common;
+
+import java.util.concurrent.ConcurrentSkipListSet;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 公共资源锁，保证线程安全
+ */
+public class ResourceLock {
+
+  private static final Logger LOG = LoggerFactory.getLogger(ResourceLock.class);
+
+  /**
+   * 静态内部类，用于封装有序的线程安全集合（基于红黑树）.
+   * 已锁定资源集合.
+   */
+  public static class DeclaredResource {
+
+    /**
+     * 点资源集合
+     */
+    public static final ConcurrentSkipListSet<String> points = new ConcurrentSkipListSet<>();
+
+    /**
+     * 路线资源集合
+     */
+    public static final ConcurrentSkipListSet<String> paths = new ConcurrentSkipListSet<>();
+
+    /**
+     * 库位资源集合
+     */
+    public static final ConcurrentSkipListSet<String> locations = new ConcurrentSkipListSet<>();
+
+    /**
+     * 检查对应对象是否包含某个字符串（区分大小写）
+     * @param target 目标
+     * @param type 类型
+     * @return bool
+     */
+    public static boolean checkContains(String target, String type) {
+      if (target == null) {
+        LOG.debug("Error checkContains: Cannot check for null.");
+        throw new RuntimeException("Error checkContains: Cannot check for null.");
+      }
+
+      LOG.info("checkContains: {} {}", target, type);
+
+      return switch (type) {
+        case ResourceTypeConstants.POINT -> points.contains(target);
+        case ResourceTypeConstants.PATH -> paths.contains(target);
+        case ResourceTypeConstants.LOCATION -> locations.contains(target);
+        default -> {
+          LOG.debug("checkContains Invalid resource type.");
+          throw new RuntimeException("Error checkContains: Cannot check for null.");
+//          yield false;  //可能不需要抛出错误，根据具体情况修改
+        }
+      };
+    }
+
+    /**
+     * 添加资源占用
+     * @param target 目标
+     * @param type 类型
+     */
+    public static boolean resourceAdd(String target, String type) {
+      if (target == null) {
+        LOG.debug("Error resourceAdd: Cannot add for null.");
+        throw new RuntimeException("Error resourceAdd: Cannot add for null.");
+      }
+
+      LOG.info("resourceAdd: {} {}", target, type);
+
+      return switch (type) {
+        case ResourceTypeConstants.POINT -> points.add(target);
+        case ResourceTypeConstants.PATH -> paths.add(target);
+        case ResourceTypeConstants.LOCATION -> locations.add(target);
+        default -> {
+          LOG.debug("resourceAdd Invalid resource type.");
+          throw new RuntimeException("resourceAdd Invalid resource type.");
+//          yield false;  //可能不需要抛出错误，根据具体情况修改
+        }
+      };
+    }
+
+    /**
+     * 释放资源占用
+     * @param target 目标
+     * @param type 类型
+     */
+    public static boolean resourceRemove(String target, String type) {
+      if (target == null) {
+        LOG.debug("Error resourceRemove: Cannot remove for null.");
+        throw new RuntimeException("Error resourceRemove: Cannot remove for null.");
+      }
+
+      LOG.info("resourceRemove: {} {}", target, type);
+
+      return switch (type) {
+        case ResourceTypeConstants.POINT -> points.remove(target);
+        case ResourceTypeConstants.PATH -> paths.remove(target);
+        case ResourceTypeConstants.LOCATION -> locations.remove(target);
+        default -> {
+          LOG.debug("resourceRemove Invalid resource type.");
+          throw new RuntimeException("resourceRemove Invalid resource type.");
+//          yield false;  //可能不需要抛出错误，根据具体情况修改
+        }
+      };
+    }
+
+  }
+
+
+  /**
+   * 占用交管资源
+   * @param vehiclePosition 车辆当前位置
+   * @param finalOccupiedPosition 车辆最终占用资源位置
+   * @param resource 资源
+   * @param type 类型
+   */
+  public boolean trafficControlOccupy(String vehiclePosition, String finalOccupiedPosition, String resource, String type) {
+
+    //交管过程判断为：
+
+    //获取资源占用情况
+    while (true) {
+      boolean lockStatus = DeclaredResource.checkContains(resource, type);
+
+      if (!lockStatus) {
+        //设置AGV状态为执行中
+        break;
+      }
+
+      //资源已被占用
+      try {
+        //如果车辆到达最后站用电位，下一个点位未解锁。修改AGV状态为交管中
+        if (!finalOccupiedPosition.equals("0") && vehiclePosition.equals(finalOccupiedPosition)) {
+          //设置AGV状态为交管中（需要考虑，车辆初始化时，位置占用问题）
+        }
+
+        //进入线程阻塞500ms
+        Thread.sleep(500);
+      } catch (Exception e) {
+        Thread.currentThread().interrupt();
+      }
+    }
+
+    boolean addStatus = DeclaredResource.resourceAdd(resource, type);
+    if (addStatus) {
+      LOG.info("trafficControlInit Successfully add resource: {} type: {}", resource, type);
+      return true;
+    } else {
+      LOG.debug("trafficControlInit Failed to add resource: {} type: {}", resource, type);
+      return false;
+    }
+  }
+
+  /**
+   * 释放资源占用（使用节点：手自动切换，车辆重启，调度断开车辆）
+   * @param resource 资源
+   * @param type 类型
+   */
+  public void trafficControlRelease(String resource, String type) {
+    boolean releaseStatus = DeclaredResource.resourceRemove(resource, type);
+    if (!releaseStatus) {
+      LOG.debug("trafficControlRelease Failed to release resource: {} type: {}", resource, type);
+      throw new RuntimeException("trafficControlRelease Failed to release resource: " + resource + " type: " + type);
+    }
+  }
+
+
+  //测试示例
+  public static void main(String[] args) {
+    // 测试线程安全的动态维护
+    Runnable task = () -> {
+      DeclaredResource.points.add("point_" + Thread.currentThread().getName());
+      DeclaredResource.paths.add("path_" + Thread.currentThread().getName());
+      DeclaredResource.locations.add("Location_" + Thread.currentThread().getName());
+    };
+
+    // 启动多个线程验证线程安全性
+    Thread t1 = new Thread(task);
+    Thread t2 = new Thread(task);
+    t1.start();
+    t2.start();
+
+    // 等待线程执行完毕
+    try {
+      t1.join();
+      t2.join();
+    } catch (InterruptedException e) {
+      e.printStackTrace();
+    }
+
+    // 输出结果
+    System.out.println("Points: " + DeclaredResource.points);
+    System.out.println("Paths: " + DeclaredResource.paths);
+    System.out.println("Locations: " + DeclaredResource.locations);
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/common/ResourceTypeConstants.java

@@ -0,0 +1,25 @@
+package org.opentcs.traffic.common;
+
+/**
+ * @author xuzhiheng
+ * @date 2025-5-12
+ * @description 资源类型常量
+ */
+public interface ResourceTypeConstants {
+
+  /**
+   * 点
+   */
+  String POINT = "POINT";
+
+  /**
+   * 路线
+   */
+  String PATH = "PATH";
+
+  /**
+   * 库位
+   */
+  String LOCATION = "LOCATION";
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/common/VehicleCollisionAvoidance.java

@@ -0,0 +1,100 @@
+package org.opentcs.traffic.common;
+
+import java.util.ArrayList;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.locationtech.jts.geom.Polygon;
+import org.opentcs.traffic.entity.VehicleAttr;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @desc 车辆轮廓检测
+ */
+public class VehicleCollisionAvoidance {
+
+  /**
+   * LOG
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(VehicleCollisionAvoidance.class);
+  /**
+   * 车辆对象轮廓避障信息集合: key:车辆名称 value:车辆对象轮廓信息
+   */
+  private static ArrayList<VehicleAttr> vehicleAttrs = new ArrayList<>();
+  /**
+   * 两台车之间最小距离
+   */
+  private final Integer minDistance = 100;
+
+  /**
+   * 轮廓避障检测
+   * @param vehicleName 当前车辆名称
+   */
+  public void interferenceDetection(String vehicleName) {
+
+    GeometryFactory geometryFactory = new GeometryFactory();
+
+    //计算当前车辆的
+
+  }
+
+  public static class Vehicle {
+    private final Long x;      // 中心X坐标（米）
+    private final Long y;      // 中心Y坐标（米）
+    private final double angle;  // 方向角（弧度，0弧度指向东）
+    private final Integer length; // 长度（米）
+    private final Integer width;  // 宽度（米）
+    private final Coordinate[] vertices; // 四个顶点坐标
+
+    public Vehicle(Long x, Long y, double angle, Integer length, Integer width) {
+      this.x = x;
+      this.y = y;
+      this.angle = angle;
+      this.length = length;
+      this.width = width;
+      this.vertices = calculateVertices();
+    }
+
+    /**
+     * 计算旋转矩形的四个顶点
+     */
+    private Coordinate[] calculateVertices() {
+      double halfLength = length / 2;
+      double halfWidth = width / 2;
+      double cosTheta = Math.cos(angle);
+      double sinTheta = Math.sin(angle);
+
+      return new Coordinate[]{
+          // 顶点1
+          new Coordinate(
+              x + halfLength * cosTheta - halfWidth * sinTheta,
+              y + halfLength * sinTheta + halfWidth * cosTheta
+          ),
+          // 顶点2
+          new Coordinate(
+              x - halfLength * cosTheta - halfWidth * sinTheta,
+              y - halfLength * sinTheta + halfWidth * cosTheta
+          ),
+          // 顶点3
+          new Coordinate(
+              x - halfLength * cosTheta + halfWidth * sinTheta,
+              y - halfLength * sinTheta - halfWidth * cosTheta
+          ),
+          // 顶点4
+          new Coordinate(
+              x + halfLength * cosTheta + halfWidth * sinTheta,
+              y + halfLength * sinTheta - halfWidth * cosTheta
+          )
+      };
+    }
+
+    /**
+     * 转换为JTS多边形
+     */
+    public Polygon toPolygon(GeometryFactory geomFactory) {
+      return geomFactory.createPolygon(vertices);
+    }
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/entity/VehicleAttr.java

@@ -0,0 +1,30 @@
+package org.opentcs.traffic.entity;
+
+import lombok.Data;
+import org.opentcs.data.model.Pose;
+
+/**
+ * @author xuzhiheng
+ * @desc 车辆属性,用于计算轮廓避障
+ */
+@Data
+public class VehicleAttr {
+
+  /**
+   * 车辆名称
+   */
+  private String name;
+  /**
+   * 长度/cm(单位厘米)
+   */
+  private Integer length;
+  /**
+   * 宽度/cm(单位厘米)
+   */
+  private Integer width;
+  /**
+   * 车辆姿态
+   */
+  private Pose pose;
+
+}

opentcs-common/src/main/java/org/opentcs/util/KernelCommunication.java

@@ -0,0 +1,68 @@
+package org.opentcs.util;
+
+import org.opentcs.access.KernelServicePortal;
+import org.opentcs.access.rmi.KernelServicePortalBuilder;
+import org.opentcs.components.kernel.services.VehicleService;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.model.Vehicle;
+
+/**
+ * @author xuzhiheng
+ */
+public class KernelCommunication {
+
+  private static KernelServicePortal servicePortal;
+
+  public KernelCommunication(String USER, String PASSWORD, String IP, Integer PORT) {
+    servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
+    servicePortal.login(IP, PORT);
+  }
+
+  public void logout() {
+    servicePortal.logout();
+  }
+
+  /**
+   * 通讯适配器通讯------todo 测试发送数据失败，待修改。勿用！！！！！
+   * @param name 车辆名称
+   * @param message 数据
+   */
+  public void sendToAdapter(String name, Object message) {
+    VehicleService vehicleService = servicePortal.getVehicleService();
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    if (vehicle == null) {
+      throw new ObjectUnknownException("sendToAdapter Unknown vehicle: " + name);
+    }
+
+    System.out.println("sendToAdapter: " + message);
+//    vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
+    vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
+  }
+
+  /**
+   * 启用车辆通讯适配器
+   * @param name 车辆名称
+   */
+  public void enableAdapter(String name) {
+    VehicleService vehicleService = servicePortal.getVehicleService();
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    if (vehicle == null) {
+      throw new ObjectUnknownException("enableAdapter Unknown vehicle: " + name);
+    }
+    vehicleService.enableCommAdapter(vehicle.getReference());
+  }
+
+  /**
+   * 禁用车辆通讯适配器
+   * @param name 车辆名称
+   */
+  public void disableAdapter(String name) {
+    VehicleService vehicleService = servicePortal.getVehicleService();
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    if (vehicle == null) {
+      throw new ObjectUnknownException("disableAdapter Unknown vehicle: " + name);
+    }
+    vehicleService.disableCommAdapter(vehicle.getReference());
+  }
+
+}

opentcs-common/src/main/resources/mqtt.conf

@@ -0,0 +1,28 @@
+# Moquette 配置文件
+
+# 监听端口
+port 1883
+# 使用WebSocket的端口（可选）
+# websocket_port 8080
+
+# 主机地址
+host 0.0.0.0
+
+# 持久化存储设置
+persistent_store true
+# 存储路径（如果使用持久化）
+# store_file moquette_store.mapdb
+
+# SSL配置（可选）
+# ssl_port 8883
+# jks_path serverkeystore.jks
+# key_store_password passw0rd
+# key_manager_password passw0rd
+
+# 允许匿名登录（true表示允许，false表示需要用户名密码）
+allow_anonymous true
+
+# 如果允许匿名登录为false，则需要配置认证文件
+# password_file password_file.conf
+
+# 其他配置...

opentcs-common/src/test/java/org/opentcs/common/SameThreadExecutorServiceTest.java

@@ -20,6 +20,10 @@ import org.opentcs.access.KernelServicePortal;
 import org.opentcs.access.rmi.KernelServicePortalBuilder;
 import org.opentcs.components.kernel.services.PlantModelService;
 import org.opentcs.components.kernel.services.VehicleService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.LocationType;
+import org.opentcs.data.model.PlantModel;
 import org.opentcs.data.model.Vehicle;
 
 /**
@@ -128,4 +132,20 @@ class SameThreadExecutorServiceTest {
 
    }
 
+   @Test
+  void getLocation() {
+     KernelServicePortal servicePortal = new KernelServicePortalBuilder(GuestUserCredentials.USER, GuestUserCredentials.PASSWORD).build();
+     servicePortal.login(GuestUserCredentials.IP, GuestUserCredentials.PORT);
+     PlantModel plantModel = servicePortal.getPlantModelService().getPlantModel();
+     Set<Location> locations = plantModel.getLocations();
+     for (Location location : locations) {
+       TCSObjectReference<LocationType> type = location.getType();
+       String typeName = type.getName();
+
+       //location类型为充电桩，记录当前location到充电桩集合中
+       System.out.println("LOCATION NAME: " + location.getName() + ", TYPE NAME: " + typeName);
+     }
+     servicePortal.logout();
+   }
+
 }

opentcs-kernel-extension-http-services/build.gradle

@@ -15,8 +15,18 @@ dependencies {
   api group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.18.0'
   api group: 'com.fasterxml.jackson.module', name: 'jackson-module-jsonSchema', version: '2.18.0'
   api group: 'com.fasterxml.jackson.datatype', name: 'jackson-datatype-jsr310', version: '2.18.0'
+  //fastjson
+  implementation 'com.alibaba:fastjson:1.2.83'
 }
 
 task release {
   dependsOn build
 }
+
+tasks.withType(JavaCompile){
+  options.encoding="utf-8"
+}
+
+tasks.withType(Javadoc){
+  options.encoding="utf-8"
+}

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

@@ -7,6 +7,7 @@ import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.SerializationFeature;
 import com.fasterxml.jackson.datatype.jsr310.JavaTimeModule;
 import java.io.IOException;
+import java.util.HashMap;
 
 /**
  * Binds JSON strings to objects and vice versa.
@@ -59,9 +60,14 @@ public class JsonBinder {
   public String toJson(Object object)
       throws IllegalStateException {
     try {
+      HashMap<String, Object> wrapper = new HashMap<>();
+      wrapper.put("data", object);
+      wrapper.put("code", 200);
+      wrapper.put("message", "success");
+
       return objectMapper
           .writerWithDefaultPrettyPrinter()
-          .writeValueAsString(object);
+          .writeValueAsString(wrapper);
     }
     catch (JsonProcessingException exc) {
       throw new IllegalStateException("Could not produce JSON output", exc);

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;
@@ -32,6 +33,7 @@ import org.opentcs.kernel.extensions.servicewebapi.KernelExecutorWrapper;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetOrderSequenceResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetTransportOrderResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostOrderSequenceRequestTO;
+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.posttransportorder.Destination;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.shared.Property;
@@ -59,6 +61,62 @@ public class TransportOrderHandler {
     this.executorWrapper = requireNonNull(executorWrapper, "executorWrapper");
   }
 
+  /**
+   * 根据WMS任务创建订单序列和运输订单
+   * @param name 订单序列名称
+   * @param body 结构体
+   * @return 创建的订单
+   */
+  public List<TransportOrder> createWmsTask(String name, String body){
+
+    //解析data
+    String type = JSON.parseObject(body).getString("type");
+    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);
+    if (intendedVehicle != null) {
+      postTransportOrderRequestTO.setIntendedVehicle(intendedVehicle);
+    }
+    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);
+    }
+
+    //设置订单序列完整性，自动完成订单
+    this.putOrderSequenceComplete(name);
+
+    return orders;
+  }
+
   public TransportOrder createOrder(String name, PostTransportOrderRequestTO order)
       throws ObjectUnknownException,
         ObjectExistsException,

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;
@@ -16,13 +18,11 @@ 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.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;
@@ -279,6 +279,21 @@ public class V1RequestHandler
         "/peripheralJobs/dispatcher/trigger",
         this::handlePostPeripheralJobsDispatchTrigger
     );
+    //新建接口，接收平台异步响应
+    service.post(
+        "/vehicles/receiveCallback",
+        this::handlePostReceiveCallback
+    );
+  }
+
+  private Object handlePostReceiveCallback(Request request, Response response)
+      throws KernelRuntimeException {
+    response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
+    vehicleHandler.postReceiveCallback(
+        request.body()
+    );
+    return "";
+//    return jsonBinder.toJson("");
   }
 
   private Object handlePostDispatcherTrigger(Request request, Response response)
@@ -356,14 +371,13 @@ public class V1RequestHandler
         IllegalArgumentException,
         IllegalStateException {
     response.type(HttpConstants.CONTENT_TYPE_APPLICATION_JSON_UTF8);
+
+    //构建响应json
     return jsonBinder.toJson(
-        GetTransportOrderResponseTO.fromTransportOrder(
-            transportOrderHandler.createOrder(
-                request.params(":NAME"),
-                jsonBinder.fromJson(request.body(), PostTransportOrderRequestTO.class)
-            )
-        )
-    );
+        transportOrderHandler.createWmsTask(
+        request.params(":NAME"),
+        request.body()
+    ));
   }
 
   private Object handlePutTransportOrderIntendedVehicle(Request request, Response response)
@@ -415,7 +429,7 @@ public class V1RequestHandler
         ExecutionException {
     transportOrderHandler.putOrderSequenceComplete(request.params(":NAME"));
     response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
-    return "";
+    return jsonBinder.toJson("");
   }
 
   private Object handlePostImmediateAssignment(Request request, Response response)
@@ -438,6 +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),
@@ -456,6 +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

@@ -4,6 +4,8 @@ package org.opentcs.kernel.extensions.servicewebapi.v1;
 
 import static java.util.Objects.requireNonNull;
 
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import jakarta.annotation.Nullable;
 import jakarta.inject.Inject;
 import java.util.Comparator;
@@ -26,11 +28,15 @@ import org.opentcs.data.model.Vehicle.EnergyLevelThresholdSet;
 import org.opentcs.data.order.Route;
 import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
 import org.opentcs.drivers.vehicle.management.VehicleAttachmentInformation;
+import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
 import org.opentcs.kernel.extensions.servicewebapi.KernelExecutorWrapper;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetVehicleResponseTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesRequestTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleAllowedOrderTypesTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleEnergyLevelThresholdSetTO;
+import org.opentcs.manage.AdapterManage;
+import org.opentcs.manage.entity.AgvActionStatus;
+import org.opentcs.manage.entity.AgvInfo;
 
 /**
  * Handles requests related to vehicles.
@@ -59,6 +65,70 @@ public class VehicleHandler {
     this.executorWrapper = requireNonNull(executorWrapper, "executorWrapper");
   }
 
+  /**
+   * 接收平台异步回调处理
+   */
+  public void postReceiveCallback(Object data) {
+//    System.out.println("jsonObject-----ssss: " + data.toString());
+
+    //截取平台响应的字符串
+    String jsonStr;
+    try {
+      jsonStr = data.toString().split("=", 2)[1];
+    } catch (Exception e) {
+      jsonStr = data.toString();
+    }
+    JSONObject jsonObject = JSON.parseObject(jsonStr);
+    String name = jsonObject.getString("vehicle_name");
+    Integer type = jsonObject.getInteger("type");
+
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    if (vehicle == null) {
+      throw new ObjectUnknownException("postReceiveCallback Unknown vehicle: " + name);
+    }
+
+    VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
+    if (!vehicleProcessModelTO.isCommAdapterEnabled()) {
+      //未开启通讯适配器，手动选择通讯适配器开启
+      String adapterName = "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterDescription";
+      VehicleCommAdapterDescription newAdapter
+          = vehicleService.fetchAttachmentInformation(vehicle.getReference())
+          .getAvailableCommAdapters()
+          .stream()
+          .filter(description -> description.getClass().getName().equals(adapterName))
+          .findAny()
+          .orElseThrow(
+              () -> new IllegalArgumentException("Unknown vehicle driver class name: " + adapterName)
+          );
+      vehicleService.attachCommAdapter(vehicle.getReference(), newAdapter);
+    }
+
+    //将数据更新到线程安全的集合中，防止线程阻塞
+    AdapterManage.setAdapterStatus(name);
+    if (type == 1) {  //上报agv详细信息
+      AgvInfo agvInfo = AdapterManage.setAdapterVehicleModel(name, jsonStr);
+      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
+    } else if (type == 5) {   //上报动作完成
+      //动作完成上报
+      initActionStatus(name);
+//      AgvActionStatus agvActionStatus = new AgvActionStatus();
+//      agvActionStatus.setStatus(true);
+//      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
+    }
+  }
+
+  /**
+   * 初始化动作完成状态
+   * @param name 车辆名称
+   */
+  public void initActionStatus(String name) {
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    AgvActionStatus agvActionStatus = new AgvActionStatus();
+    agvActionStatus.setStatus(true);
+    vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
+  }
+
+
   /**
    * Find all vehicles orders and filters depending on the given parameters.
    *

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

@@ -0,0 +1,43 @@
+package org.opentcs.kernel.extensions.servicewebapi.v1.binding;
+
+public class PostTransportOrderInfoRequestTo {
+
+  private String locationName;
+
+  private String point;
+
+  private String operation;
+
+  public String getLocationName() {
+    return locationName;
+  }
+
+  public void setLocationName(String locationName) {
+    this.locationName = locationName;
+  }
+
+  public String getPoint() {
+    return point;
+  }
+
+  public void setPoint(String point) {
+    this.point = point;
+  }
+
+  public String getOperation() {
+    return operation;
+  }
+
+  public void setOperation(String operation) {
+    this.operation = operation;
+  }
+
+  @Override
+  public String toString() {
+    return "PostTransportOrderInfoRequestTo{" +
+        "locationName='" + locationName + '\'' +
+        ", point='" + point + '\'' +
+        ", operation='" + operation + '\'' +
+        '}';
+  }
+}

opentcs-kernel-extension-rmi-services/src/main/java/org/opentcs/kernel/extensions/rmi/StandardRemoteVehicleService.java

@@ -344,4 +344,12 @@ public class StandardRemoteVehicleService
       throw findSuitableExceptionFor(exc);
     }
   }
+
+  @Override
+  public void receiveCallback(ClientID clientId, TCSObjectReference<Vehicle> ref, Object data)
+      throws RemoteException {
+    System.out.println("receiveCallback org.opentcs.kernel.extensions.rmi:" + data);
+  }
+
+
 }

opentcs-kernel/build.gradle

@@ -26,6 +26,8 @@ dependencies {
   implementation group: 'de.huxhorn.sulky', name: 'de.huxhorn.sulky.ulid', version: '8.3.0'
 
   runtimeOnly group: 'org.slf4j', name: 'slf4j-jdk14', version: '2.0.16'
+  //fastjson
+  implementation 'com.alibaba:fastjson:1.2.83'
 }
 
 distributions {
@@ -47,6 +49,14 @@ task release {
   dependsOn installDist
 }
 
+tasks.withType(JavaCompile){
+  options.encoding="utf-8"
+}
+
+tasks.withType(Javadoc){
+  options.encoding="utf-8"
+}
+
 run {
   systemProperties(['java.util.logging.config.file':'./config/logging.config',\
                     'opentcs.base':'.',\

opentcs-kernel/src/main/java/org/opentcs/kernel/StandardKernel.java

@@ -14,7 +14,6 @@ import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.Semaphore;
 import java.util.concurrent.TimeUnit;
 import org.opentcs.access.Kernel;
-import org.opentcs.access.Kernel.State;
 import org.opentcs.access.KernelStateTransitionEvent;
 import org.opentcs.access.LocalKernel;
 import org.opentcs.components.kernel.KernelExtension;
@@ -22,6 +21,7 @@ import org.opentcs.components.kernel.services.NotificationService;
 import org.opentcs.customizations.ApplicationEventBus;
 import org.opentcs.customizations.kernel.KernelExecutor;
 import org.opentcs.data.notification.UserNotification;
+import org.opentcs.manage.AdapterManage;
 import org.opentcs.util.event.EventBus;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -70,6 +70,10 @@ public class StandardKernel
    * The kernel implementing the actual functionality for the current mode.
    */
   private KernelState kernelState;
+  /**
+   * 通讯适配器管理类
+   */
+  private final AdapterManage adapterManage = new AdapterManage();
 
   /**
    * Creates a new kernel.
@@ -108,6 +112,13 @@ public class StandardKernel
     // Initial state is modelling.
     setState(State.MODELLING);
 
+    //开启MQTT服务
+//    mqttBrokerServer.startMqtt();
+
+    //开启通讯适配器自动管理
+    adapterManage.START();
+    LOG.info("Communication adapter auto management started successfully");
+
     initialized = true;
     LOG.debug("Starting kernel thread");
     Thread kernelThread = new Thread(this, "kernelThread");
@@ -127,6 +138,13 @@ public class StandardKernel
     // Note that the actual shutdown of extensions should happen when the kernel
     // thread (see run()) finishes, not here.
     // Set the terminated flag and wake up this kernel's thread for termination.
+
+    //关闭MQTT服务
+//    mqttBrokerServer.stopMqtt();
+
+    //关闭通讯适配器自动管理
+    adapterManage.STOP();
+
     initialized = false;
     terminationSemaphore.release();
   }

opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java

@@ -1032,6 +1032,14 @@ public class DefaultVehicleController
       Point currentVehiclePosition = originalCommand.getStep().getDestinationPoint();
       Deque<Set<TCSResource<?>>> allocatedResources
           = commandProcessingTracker.getAllocatedResources();
+
+//      KernelApplicationConfiguration.VehicleResourceManagementType vehicleResourceManagementType
+//          = configuration.vehicleResourceManagementType();
+//      System.out.println("vehicleResourceManagementType: " + vehicleResourceManagementType);
+//
+//      long length = commAdapter.getProcessModel().getBoundingBox().getLength();
+//      System.out.println("vehicle_length: " + length);
+
       switch (configuration.vehicleResourceManagementType()) {
         case LENGTH_IGNORED:
           while (!allocatedResources.peek().contains(currentVehiclePosition)) {
@@ -1044,11 +1052,13 @@ public class DefaultVehicleController
         case LENGTH_RESPECTED:
           // Free resources allocated for executed commands, but keep as many as needed for the
           // vehicle's current length.
+          long vehicleLeghtRadius = 3700 / 2;   //车辆长度半径
+          BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox().withLength(vehicleLeghtRadius);  //长度有问题
           int freeableResourceSetCount
               = ResourceMath.freeableResourceSetCount(
                   SplitResources.from(allocatedResources, Set.of(currentVehiclePosition))
                       .getResourcesPassed(),
-                  commAdapter.getProcessModel().getBoundingBox().getLength()
+                  boundingBox.getLength()
               );
           for (int i = 0; i < freeableResourceSetCount; i++) {
             Set<TCSResource<?>> oldResources = allocatedResources.poll();

opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/PlantModelManager.java

@@ -51,6 +51,9 @@ import org.opentcs.data.order.TransportOrder;
 import org.opentcs.data.peripherals.PeripheralJob;
 import org.opentcs.data.peripherals.PeripheralOperation;
 import org.opentcs.drivers.vehicle.LoadHandlingDevice;
+import org.opentcs.manage.AdapterManage;
+import org.opentcs.park.ParkStrategy;
+import org.opentcs.park.entity.Park;
 import org.opentcs.util.event.EventHandler;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -169,6 +172,8 @@ public class PlantModelManager
         ObjectUnknownException {
     LOG.info("Plant model is being created: {}", to.getName());
 
+//    AdapterManage.kernelStatus = true;
+
     clear();
     setName(to.getName());
     setProperties(to.getProperties());
@@ -194,6 +199,9 @@ public class PlantModelManager
     }
 
     createVisualLayout(to.getVisualLayout());
+
+//    AdapterManage.kernelStatus = true;
+    LOG.info("Plant model created successfully: {}", to.getName());
   }
 
   /**
@@ -1500,6 +1508,7 @@ public class PlantModelManager
       throws ObjectUnknownException,
         ObjectExistsException {
     LocationType type = getObjectRepo().getObject(LocationType.class, to.getTypeName());
+//    System.out.println("test print location:" + to.getName() + ", type:" +  type.getName());
     Location newLocation = new Location(to.getName(), type.getReference())
         .withPosition(to.getPosition())
         .withLocked(to.isLocked())

opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/TransportOrderPoolManager.java

@@ -451,6 +451,7 @@ public class TransportOrderPoolManager
       throws ObjectUnknownException {
     TransportOrder order = getObjectRepo().getObject(TransportOrder.class, ref);
     // Make sure only orders in a final state are removed.
+    LOG.info("removeTransportOrder name: {}, state: {}", order.getName(), order.getState());
     checkArgument(
         order.getState().isFinalState(),
         "Transport order %s is not in a final state.",

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
@@ -45,7 +46,7 @@ servicewebapi.enable = true
 servicewebapi.useSsl = false
 servicewebapi.bindAddress = 0.0.0.0
 servicewebapi.bindPort = 55200
-servicewebapi.accessKey = 
+servicewebapi.accessKey =
 servicewebapi.statusEventsCapacity = 1000
 
 defaultdispatcher.dismissUnroutableTransportOrders = true
@@ -79,6 +80,8 @@ virtualvehicle.rechargePercentagePerSecond = 1.0
 virtualvehicle.simulationTimeFactor = 1.0
 virtualvehicle.vehicleLengthLoaded = 1000
 virtualvehicle.vehicleLengthUnloaded = 1000
+virtualvehicle.chargingStrategyName = threshold_charging_strategy
+virtualvehicle.energyDrainRatePerSecond = 10.0
 
 virtualperipheral.enable = true
 

opentcs-modeleditor/src/guiceConfig/java/org/opentcs/modeleditor/DefaultPropertySuggestions.java

@@ -42,7 +42,7 @@ public class DefaultPropertySuggestions
     keySuggestions.add(LoopbackAdapterConstants.AGV_AUTHORIZE_CODE);
     keySuggestions.add(LoopbackAdapterConstants.AGV_IP);
     keySuggestions.add(LoopbackAdapterConstants.AGV_PORT);
-    keySuggestions.add(LoopbackAdapterConstants.POINT_TYPE);
+    keySuggestions.add(LoopbackAdapterConstants.AGV_DRIVE_POSE);
   }
 
   @Override

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

@@ -10,6 +10,7 @@ import jakarta.inject.Inject;
 import java.util.Collections;
 import java.util.List;
 import java.util.Optional;
+import org.opentcs.communication.http.service.ExecuteOperation;
 import org.opentcs.components.Lifecycle;
 import org.opentcs.components.kernel.Router;
 import org.opentcs.components.kernel.services.InternalTransportOrderService;
@@ -355,6 +356,13 @@ public class TransportOrderUtil
     // vehicle reports the remaining movements as finished.
     updateTransportOrderState(order.getReference(), TransportOrder.State.WITHDRAWN);
 
+    //撤销订单,获取订单状态
+    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;
@@ -133,12 +136,12 @@ public class OrderAssigner {
     );
 
     AssignmentState assignmentState = new AssignmentState();
-    if (availableVehicles.size() < availableOrders.size()) {
+    if (availableVehicles.size() < availableOrders.size()) {  //车数量 < 订单数
       availableVehicles.stream()
           .sorted(vehicleComparator)
           .forEach(vehicle -> tryAssignOrder(vehicle, availableOrders, assignmentState));
     }
-    else {
+    else {    //车数量 >= 订单数
       availableOrders.stream()
           .sorted(orderComparator)
           .forEach(order -> tryAssignVehicle(order, availableVehicles, assignmentState));
@@ -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(
@@ -227,15 +246,44 @@ public class OrderAssigner {
             )
             .collect(Collectors.partitioningBy(filterResult -> !filterResult.isFiltered()));
 
+//    // 调试输出：分组统计结果
+//    System.out.println("Candidate groups: Passed=" + ordersSplitByFilter.get(Boolean.TRUE).size() + ", Filtered=" + ordersSplitByFilter.get(Boolean.FALSE).size());
+//
+//    // 调试输出：显示所有通过过滤的候选（排序前）
+//    List<AssignmentCandidate> passedCandidates = ordersSplitByFilter.get(Boolean.TRUE).stream()
+//        .map(CandidateFilterResult::getCandidate)
+//        .collect(Collectors.toList());
+//
+//    passedCandidates.forEach(c -> System.out.println("passedCandidates - order: " + c.getTransportOrder() + ",vehicle:" + c.getVehicle() + ",Costs: " + c.getCompleteRoutingCosts()));
+
     ordersSplitByFilter.get(Boolean.FALSE).stream()
         .map(CandidateFilterResult::toFilterResult)
         .forEach(filterResult -> assignmentState.addFilteredOrder(filterResult));
 
+
     ordersSplitByFilter.get(Boolean.TRUE).stream()
         .map(CandidateFilterResult::getCandidate)
-        .sorted(vehicleCandidateComparator)
+//        .sorted(vehicleCandidateComparator)       框架原本排序有问题,修改为按照路由成本排序
+        .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) {