嘉兴测试

servo/src/main/java/com/galaxis/rcs/amr/AmrAgvItem.java

@@ -78,7 +78,7 @@ public abstract class AmrAgvItem  extends ExecutorItem {
     /**
      * 当前执行的设备任务列表
      */
-    final BlockingQueue<AmrDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
+    public final BlockingQueue<AmrDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
 
     final AmrDeviceConnector amrDeviceConnector = new AmrDeviceConnector(this.runtime);
 
@@ -87,7 +87,7 @@ public abstract class AmrAgvItem  extends ExecutorItem {
     /**
      * 连接器线程
      */
-    public final AmrConnectorThread connectorThread;
+    public AmrConnectorThread connectorThread;
 
     public AmrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
         super(logisticsRuntime, raw);
@@ -775,12 +775,11 @@ public abstract class AmrAgvItem  extends ExecutorItem {
                 d.chargeLocation = deviceTaskList.get(lastIndex).chargeLocation;
             }
         }
-
-        deviceTaskQueue.addAll(deviceTaskList);
-        String json = JsonWrapper.toJson(deviceTaskList);
-        log.info("deviceTaskList: {}", json);
+        handelDeviceTask(deviceTaskList);
     }
 
+    abstract public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList);
+
     public boolean isSamePosition(PosDirection startPos) {
         return this.logicX == startPos.logicX() && this.logicY == startPos.logicY() &&
             PathUtils.getDirectionByArmDirection(this.direction) == startPos.direction();
@@ -794,21 +793,33 @@ public abstract class AmrAgvItem  extends ExecutorItem {
     }
 
 
-    private static class COperationType {
+    public static class COperationType {
+        // 移动
         public static final short move = 0;
+        // 载货
         public static final short load = 1;
-        public static final short unpick = 2;
+        // 卸货
+        public static final short unload = 2;
+        // 充电
         public static final short charge = 3;
+        // 移载取放货
         public static final short transplantLoadAndUnload = 4;
+        // 滚轮取放货
         public static final short rollerLoadAndUnload = 5;
     }
 
-    private static class CPickMode {
+    public static class CPickMode {
+        // 无动作
         public static final short normal = 0;
+        // 载货
         public static final short load = 1;
+        // 卸货
         public static final short unload = 2;
+        // 调高
         public static final short adjustHeight = 3;
+        // 调高准备取货
         public static final short adjustHeightToLoad = 5;
+        // 调高准备卸货
         public static final short adjustHeightToUnload = 6;
     }
 

servo/src/main/java/com/galaxis/rcs/amr/PtrAgvItem.java

@@ -3,6 +3,7 @@ package com.galaxis.rcs.amr;
 import com.galaxis.rcs.amr.sendEntity.RcsConfigMessage;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.extern.slf4j.Slf4j;
+import org.clever.core.json.JsonWrapper;
 
 import java.util.*;
 
@@ -10,7 +11,7 @@ import java.util.*;
  * 侧叉式AGV执行器
  */
 @Slf4j
-public class PtrAgvItem extends AmrAgvItem {
+public abstract class PtrAgvItem extends AmrAgvItem {
 
     public PtrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
         super(logisticsRuntime, raw);
@@ -27,4 +28,11 @@ public class PtrAgvItem extends AmrAgvItem {
         content.MqRetryTime = 3;
         return content;
     }
+
+    @Override
+    public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList) {
+        deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("ptr-deviceTaskList: {}", json);
+    }
 }

servo/src/main/java/com/galaxis/rcs/amr/PtrConnectorThread.java

@@ -1,14 +0,0 @@
-package com.galaxis.rcs.amr;
-
-import com.galaxis.rcs.connector.amr.PtrDeviceConnector;
-import com.yvan.logisticsModel.LogisticsRuntime;
-import lombok.extern.slf4j.Slf4j;
-
-@Slf4j
-public class PtrConnectorThread extends AmrConnectorThread {
-
-    public PtrConnectorThread(PtrAgvItem ptrAgvItem, PtrDeviceConnector ptrDeviceConnector, LogisticsRuntime logisticsRuntime) {
-        super(ptrAgvItem, ptrDeviceConnector, logisticsRuntime);
-
-    }
-}

servo/src/main/java/com/galaxis/rcs/connector/amr/cl2/Cl2Item.java

@@ -1,11 +1,16 @@
 package com.galaxis.rcs.connector.amr.cl2;
 
+import com.galaxis.rcs.amr.AmrDeviceTask;
 import com.galaxis.rcs.amr.sendEntity.RcsConfigMessage;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.galaxis.rcs.amr.PtrAgvItem;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.json.JsonWrapper;
 
+import java.util.List;
 import java.util.Map;
 
+@Slf4j
 public class Cl2Item extends PtrAgvItem {
 
     public Cl2Item(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
@@ -23,4 +28,11 @@ public class Cl2Item extends PtrAgvItem {
         content.MqRetryTime = 3;
         return content;
     }
+
+    @Override
+    public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList) {
+        deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("cl-deviceTaskList: {}", json);
+    }
 }

servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600DeviceConnector.java

@@ -3,6 +3,7 @@ package com.galaxis.rcs.connector.amr.fm600;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.galaxis.rcs.amr.sendEntity.RcsTaskMessage;
 import com.galaxis.rcs.amr.AmrMessageHandler;
+import com.galaxis.rcs.connector.amr.AmrDeviceConnector;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.mqttv5.common.MqttException;
@@ -11,19 +12,9 @@ import org.eclipse.paho.mqttv5.common.MqttException;
  * CL2 车型报文推送
  */
 @Slf4j
-public class Fm600DeviceConnector {
-    private final AmrMessageHandler amrMessageHandler;
+public class Fm600DeviceConnector  extends AmrDeviceConnector {
 
     public Fm600DeviceConnector(LogisticsRuntime runtime) {
-        this.amrMessageHandler = runtime.amrMessageHandler;
+        super(runtime);
     }
-
-    public void sendTask(String vehicleId, RcsTaskMessage rcsTaskMessage) throws MqttException, JsonProcessingException {
-        // var list = Splitter.on("\n").splitToList(JsonWrapper.toJsonPretty(rcsTaskMessage));
-        // String[] ar = new String[list.size()];
-        // list.toArray(ar);
-        // BannerUtils.printConfig(log, "CL2 发送报文", ar);
-        amrMessageHandler.sendCmdTask(vehicleId, rcsTaskMessage);
-    }
-
 }

servo/src/main/java/com/galaxis/rcs/connector/amr/fm600/Fm600Item.java

@@ -1,12 +1,17 @@
 package com.galaxis.rcs.connector.amr.fm600;
 
 import com.galaxis.rcs.amr.AmrAgvItem;
+import com.galaxis.rcs.amr.AmrDeviceTask;
 import com.galaxis.rcs.amr.sendEntity.RcsConfigMessage;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.galaxis.rcs.amr.PtrAgvItem;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.json.JsonWrapper;
 
+import java.util.List;
 import java.util.Map;
 
+@Slf4j
 public class Fm600Item extends AmrAgvItem {
 
     public Fm600Item(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
@@ -24,4 +29,25 @@ public class Fm600Item extends AmrAgvItem {
         content.MqRetryTime = 3;
         return content;
     }
+
+    @Override
+    public void handelDeviceTask(List<AmrDeviceTask> deviceTaskList) {
+
+        // 将移载任务转换为装载任务
+        for (int i = deviceTaskList.size() - 1; i >= 0; i--) {
+            AmrDeviceTask d = deviceTaskList.get(i);
+            if (d.operationType == COperationType.transplantLoadAndUnload) {
+                if (d.pickMode == CPickMode.load) {
+                    d.operationType = COperationType.load;
+                } else if (d.pickMode == CPickMode.unload) {
+                    d.operationType = COperationType.unload;
+                }
+                d.pickMode = CPickMode.normal;
+            }
+        }
+
+        deviceTaskQueue.addAll(deviceTaskList);
+        String json = JsonWrapper.toJson(deviceTaskList);
+        log.info("fm600-deviceTaskList: {}", json);
+    }
 }

servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

@@ -332,7 +332,7 @@ public class LogisticsRuntime {
                 case "cl3":
                 case "clx":
                 case "cs1":
-                    item = new PtrAgvItem(this, itemObject);
+                    item = new Cl2Item(this, itemObject);
                     this.executorItemMap.put(item.getId(), (ExecutorItem) item);
                     break;
                 case "fm600":