EnvController.runDemo

servo/src/main/java/com/galaxis/rcs/RCS.java

@@ -2,16 +2,44 @@ package com.galaxis.rcs;
 
 import com.galaxis.rcs.common.entity.AddTaskRequest;
 import com.galaxis.rcs.common.entity.AddTaskResult;
-import com.galaxis.rcs.task.TaskService;
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.galaxis.rcs.common.entity.StoreLocation;
+import com.galaxis.rcs.common.enums.BizTaskType;
+import com.galaxis.rcs.plan.planner.Planner;
+import com.galaxis.rcs.plan.TaskPlannerFactory;
+import com.galaxis.rcs.plan.PlanTaskSequence;
+import com.google.common.base.Joiner;
+import com.yvan.logisticsEnv.LogisticsEnv;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.LogisticsRuntimeService;
+import com.yvan.logisticsMonitor.task.BizTask;
+import com.yvan.workbench.model.entity.Model;
+import lombok.SneakyThrows;
+import org.apache.commons.io.FileUtils;
+import org.clever.core.json.JsonWrapper;
+
+import java.io.File;
+import java.nio.charset.StandardCharsets;
 
 /**
  * RCS 对外API调用类
  */
 public class RCS {
+    static {
+        init();
+    }
 
-    static final LogisticsRuntimeService logisticsRuntimeService = new LogisticsRuntimeService();
+    @SneakyThrows
+    static void init() {
+        String fs = Joiner.on("\n").join(FileUtils.readLines(new File("./yvan-lcc/src/example/example1.json"), StandardCharsets.UTF_8));
+        JsonWrapper jw = new JsonWrapper(fs);
+
+        LogisticsRuntimeService.createEnv(1);
+        LogisticsRuntime runtime = LogisticsRuntimeService.findByEnvCode(1);
+        runtime.loadMap(jw);
+
+        runtime.start();
+    }
 
     /**
      * 添加任务, 示例
@@ -31,15 +59,55 @@ public class RCS {
      * }
      * </pre>
      */
-    public static AddTaskResult addTask(String envCode, AddTaskRequest request) {
+    public static AddTaskResult addTask(long envId, AddTaskRequest request) {
         AddTaskResult result = new AddTaskResult();
 
-        LogisticsRuntime logisticsRuntime = logisticsRuntimeService.findByEnvCode(envCode);
+        LogisticsRuntime logisticsRuntime = LogisticsRuntimeService.findByEnvCode(envId);
         String bizTaskId = logisticsRuntime.taskService.addBizTask(request);
         result.bizTaskId = bizTaskId;
 
         return result;
     }
 
+    public static void runDemo() {
+        String executorId = "10"; // 执行器ID
+        String lpn = "pallet1124";
+        long envId = 1;
+
+        AddTaskRequest request = new AddTaskRequest();
+        request.setType(BizTaskType.CARRY);
+        request.setTaskExecutorId(executorId);
+        request.setLpn(lpn);
+        request.setPriority(1);
+        request.setFrom(new StoreLocation("rack1", 0, 1, 0));
+        request.setTo(new StoreLocation("54", 0, 0, 0));
+        request.setDescription("从rack1的0/1/0, 取货到地堆54");
+        request.setCreateBy("runDemo");
+
+        AddTaskResult result = RCS.addTask(envId, request);
 
+        LogisticsRuntime logisticsRuntime = LogisticsRuntimeService.findByEnvCode(envId);
+        RcsTaskBiz bizTask = logisticsRuntime.taskService.waitingTaskList.get(logisticsRuntime.taskService.waitingTaskList.size() - 1);
+
+
+        Planner planner = TaskPlannerFactory.getPlanner("cl2");
+
+        // 规划任务序列
+        PlanTaskSequence planSequence = new PlanTaskSequence(executorId, logisticsRuntime, bizTask, "demo");
+        planSequence.addMoveTo("23");
+        planSequence.addRotationTo(90);
+        planSequence.addMoveTo("27");
+        planSequence.addLoad(lpn, "rack1", 0, 1, 0);
+        planSequence.addMoveTo("23");
+        planSequence.addRotationTo(-90);
+        planSequence.addMoveTo("20");
+        planSequence.addUnload("gst_01", 0, 0, 0);
+        planSequence.addFinish();
+
+        planner.appendSequence(planSequence);
+    }
+
+    public static LogisticsRuntime getDemo() {
+        return LogisticsRuntimeService.findByEnvCode(1L);
+    }
 }

servo/src/main/java/com/galaxis/rcs/common/entity/RcsTaskPlan.java

@@ -2,6 +2,7 @@ package com.galaxis.rcs.common.entity;
 
 import lombok.Data;
 import java.io.Serializable;
+import java.math.BigDecimal;
 import java.util.Date;
 
 /**
@@ -21,9 +22,21 @@ public class RcsTaskPlan implements Serializable {
     private String executorId;
     /** 规划序号 */
     private Integer seq;
+    /** 目标点ID */
+    private String targetId;
+    /** 目标点货架列 */
+    private Integer targetBay;
+    /** 目标点货架层 */
+    private Integer targetLevel;
+    /** 目标点货架格 */
+    private Integer targetCell;
+    /** 目标点货架旋转角度 */
+    private BigDecimal targetRotation;
+    /** 背负托盘ID */
+    private String loadLpn;
     /** 任务负载信息 */
     private String planTaskPayload;
-    /** 规划状态 */
+    /** 规划执行状态 */
     private String planTaskStatus;
     /** 异常提示信息 */
     private String planTaskErrorInfo;

servo/src/main/java/com/galaxis/rcs/common/entity/StoreLocation.java

@@ -12,18 +12,13 @@ package com.galaxis.rcs.common.entity;
  * </pre>
  */
 public record StoreLocation(
-    String item, // 货架ID
+    String rackId, // 货架ID
     int bay,     // 列
     int level,   // 层
     int cell     // 格
 ) {
     @Override
     public String toString() {
-        return "StoreLocation{" +
+        return rackId + "_" + bay + "_" + level + "_" + cell;
-            "item='" + item + '\'' +
-            ", bay=" + bay +
-            ", level=" + level +
-            ", cell=" + cell +
-            '}';
     }
 }

servo/src/main/java/com/galaxis/rcs/common/enums/PlanTaskStatus.java

@@ -0,0 +1,23 @@
+package com.galaxis.rcs.common.enums;
+
+/**
+ * 任务规划状态枚举
+ */
+public enum PlanTaskStatus {
+    /**
+     * 等待执行
+     */
+    PENDING,
+    /**
+     * 执行中
+     */
+    EXECUTING,
+    /**
+     * 执行成功
+     */
+    FINISHED,
+    /**
+     * 执行失败
+     */
+    ERROR;
+}

servo/src/main/java/com/galaxis/rcs/common/enums/PlanTaskType.java

@@ -0,0 +1,12 @@
+package com.galaxis.rcs.common.enums;
+
+/**
+ * 任务规划状态枚举
+ */
+public enum PlanTaskType {
+    MOVE,        // 移动任务
+    ROTATION,    // 旋转任务
+    LOAD, // 取货任务
+    UNLOAD, // 装载任务
+    CHARGE       // 充电任务
+}

servo/src/main/java/com/galaxis/rcs/common/query/QRcsTaskPlan.java

@@ -6,6 +6,7 @@ import com.querydsl.core.types.*;
 import com.querydsl.sql.*;
 import java.sql.Types;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import java.math.BigDecimal;
 import java.util.Date;
 
 /**
@@ -28,9 +29,21 @@ public class QRcsTaskPlan extends RelationalPathBase<RcsTaskPlan> {
     public final StringPath executorId = createString("executorId");
     /** 规划序号 */
     public final NumberPath<Integer> seq = createNumber("seq", Integer.class);
+    /** 目标点ID */
+    public final StringPath targetId = createString("targetId");
+    /** 目标点货架列 */
+    public final NumberPath<Integer> targetBay = createNumber("targetBay", Integer.class);
+    /** 目标点货架层 */
+    public final NumberPath<Integer> targetLevel = createNumber("targetLevel", Integer.class);
+    /** 目标点货架格 */
+    public final NumberPath<Integer> targetCell = createNumber("targetCell", Integer.class);
+    /** 目标点货架旋转角度 */
+    public final NumberPath<BigDecimal> targetRotation = createNumber("targetRotation", BigDecimal.class);
+    /** 背负托盘ID */
+    public final StringPath loadLpn = createString("loadLpn");
     /** 任务负载信息 */
     public final StringPath planTaskPayload = createString("planTaskPayload");
-    /** 规划状态 */
+    /** 规划执行状态 */
     public final StringPath planTaskStatus = createString("planTaskStatus");
     /** 异常提示信息 */
     public final StringPath planTaskErrorInfo = createString("planTaskErrorInfo");
@@ -77,13 +90,19 @@ public class QRcsTaskPlan extends RelationalPathBase<RcsTaskPlan> {
         addMetadata(planType, ColumnMetadata.named("plan_type").withIndex(4).ofType(Types.VARCHAR).withSize(10));
         addMetadata(executorId, ColumnMetadata.named("executor_id").withIndex(5).ofType(Types.VARCHAR).withSize(50));
         addMetadata(seq, ColumnMetadata.named("seq").withIndex(6).ofType(Types.INTEGER).withSize(10));
-        addMetadata(planTaskPayload, ColumnMetadata.named("plan_task_payload").withIndex(7).ofType(Types.VARCHAR).withSize(3000));
+        addMetadata(targetId, ColumnMetadata.named("target_id").withIndex(7).ofType(Types.VARCHAR).withSize(50));
-        addMetadata(planTaskStatus, ColumnMetadata.named("plan_task_status").withIndex(8).ofType(Types.VARCHAR).withSize(10));
+        addMetadata(targetBay, ColumnMetadata.named("target_bay").withIndex(8).ofType(Types.INTEGER).withSize(10));
-        addMetadata(planTaskErrorInfo, ColumnMetadata.named("plan_task_error_info").withIndex(9).ofType(Types.VARCHAR).withSize(500));
+        addMetadata(targetLevel, ColumnMetadata.named("target_level").withIndex(9).ofType(Types.INTEGER).withSize(10));
-        addMetadata(planTaskDescription, ColumnMetadata.named("plan_task_description").withIndex(10).ofType(Types.VARCHAR).withSize(500));
+        addMetadata(targetCell, ColumnMetadata.named("target_cell").withIndex(10).ofType(Types.INTEGER).withSize(10));
-        addMetadata(createAt, ColumnMetadata.named("create_at").withIndex(11).ofType(Types.TIMESTAMP));
+        addMetadata(targetRotation, ColumnMetadata.named("target_rotation").withIndex(11).ofType(Types.REAL).withSize(7).withDigits(3));
-        addMetadata(createBy, ColumnMetadata.named("create_by").withIndex(12).ofType(Types.VARCHAR).withSize(50));
+        addMetadata(loadLpn, ColumnMetadata.named("load_lpn").withIndex(12).ofType(Types.VARCHAR).withSize(3000));
-        addMetadata(updateAt, ColumnMetadata.named("update_at").withIndex(13).ofType(Types.TIMESTAMP));
+        addMetadata(planTaskPayload, ColumnMetadata.named("plan_task_payload").withIndex(13).ofType(Types.VARCHAR).withSize(3000));
-        addMetadata(updateBy, ColumnMetadata.named("update_by").withIndex(14).ofType(Types.VARCHAR).withSize(50));
+        addMetadata(planTaskStatus, ColumnMetadata.named("plan_task_status").withIndex(14).ofType(Types.VARCHAR).withSize(10));
+        addMetadata(planTaskErrorInfo, ColumnMetadata.named("plan_task_error_info").withIndex(15).ofType(Types.VARCHAR).withSize(500));
+        addMetadata(planTaskDescription, ColumnMetadata.named("plan_task_description").withIndex(16).ofType(Types.VARCHAR).withSize(500));
+        addMetadata(createAt, ColumnMetadata.named("create_at").withIndex(17).ofType(Types.TIMESTAMP));
+        addMetadata(createBy, ColumnMetadata.named("create_by").withIndex(18).ofType(Types.VARCHAR).withSize(50));
+        addMetadata(updateAt, ColumnMetadata.named("update_at").withIndex(19).ofType(Types.TIMESTAMP));
+        addMetadata(updateBy, ColumnMetadata.named("update_by").withIndex(20).ofType(Types.VARCHAR).withSize(50));
     }
 }

servo/src/main/java/com/galaxis/rcs/connector/ConnectorConsumer.java

@@ -0,0 +1,9 @@
+package com.galaxis.rcs.connector;
+
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.yvan.logisticsModel.ExecutorItem;
+import com.yvan.logisticsModel.LogisticsRuntime;
+
+public interface ConnectorConsumer {
+    void consume(ExecutorItem executorItem, LogisticsRuntime logisticsRuntime, RcsTaskPlan task);
+}

servo/src/main/java/com/galaxis/rcs/connector/ConnectorFactory.java

@@ -0,0 +1,40 @@
+package com.galaxis.rcs.connector;
+
+import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
+import com.galaxis.rcs.connector.cl2.VirtualCl2Connector;
+import com.google.common.collect.Maps;
+
+import java.util.Map;
+
+public class ConnectorFactory {
+    /**
+     * 设备连接器映射
+     */
+    private static final Map<String, ConnectorConsumer> connectorMap = Maps.newHashMap();
+
+    /**
+     * 虚拟连接器映射
+     */
+    private static final Map<String, ConnectorConsumer> virtualConnectorMap = Maps.newHashMap();
+
+    static {
+        connectorMap.put("cl2", new Cl2DeviceConnector());
+        virtualConnectorMap.put("cl2", new VirtualCl2Connector());
+    }
+
+    public static ConnectorConsumer getConnector(String type) {
+        ConnectorConsumer connector = connectorMap.get(type);
+        if (connector == null) {
+            throw new IllegalArgumentException("No connector found for type: " + type);
+        }
+        return connector;
+    }
+
+    public static ConnectorConsumer getVirtualConnector(String type) {
+        ConnectorConsumer connector = connectorMap.get(type);
+        if (connector == null) {
+            throw new IllegalArgumentException("No connector found for type: " + type);
+        }
+        return connector;
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2Connector.java

@@ -1,52 +1,99 @@
 package com.galaxis.rcs.connector.cl2;
 
-public interface Cl2Connector {
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.galaxis.rcs.common.enums.PlanTaskType;
+import com.galaxis.rcs.connector.ConnectorConsumer;
+import com.yvan.logisticsModel.ExecutorItem;
+import com.yvan.logisticsModel.LogisticsRuntime;
+
+public abstract class Cl2Connector implements ConnectorConsumer {
     // RCS发往CL2的指令
 
+
+    /**
+     * 消费任务计划
+     *
+     * @param executorItem 机器人执行器
+     * @param runtime      物流运行时环境
+     * @param task         任务计划
+     */
+    @Override
+    public void consume(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task) {
+        switch (PlanTaskType.valueOf(task.getPlanType())) {
+            case MOVE:
+                robotMove(executorItem, runtime, task, task.getTargetId());
+                break;
+            case ROTATION:
+                robotRotation(executorItem, runtime, task, task.getTargetRotation().floatValue());
+                break;
+            case LOAD:
+                robotLoad(executorItem, runtime, task, task.getTargetId(), task.getTargetBay(), task.getTargetLevel(), task.getTargetCell());
+                break;
+            case UNLOAD:
+                robotUnload(executorItem, runtime, task, task.getTargetId(), task.getTargetBay(), task.getTargetLevel(), task.getTargetCell());
+                break;
+            case CHARGE:
+                robotCharger(executorItem, runtime, task, task.getTargetId());
+                break;
+            default:
+                throw new IllegalArgumentException("Unknown plan type: " + task.getPlanType());
+        }
+    }
+
     /**
      * 移动 robotMove
-     * @param executorId 机器人设备ID
+     *
-     * @param startWayPoint 起点Id, WayPointId
+     * @param executorItem 机器人执行器
-     * @param endWayPoint 终点ID, WayPointId
+     * @param runtime      物流运行时环境
-     * @param armRotation number类型，货叉/机械臂，相对于头的角度, 逆时针为正
+     * @param task         任务计划
+     * @param endWayPoint  终点ID, WayPointId
      */
-    void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation);
+    public abstract void robotMove(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String endWayPoint);
 
     /**
      * 旋转 robotRotate
-     * @param executorId 机器人编号
+     *
+     * @param executorItem  机器人执行器
+     * @param runtime       物流运行时环境
+     * @param task          任务计划
      * @param worldRotation 转动身体到世界角度 90 度
      */
-    void robotRotation(String executorId, double worldRotation);
+    public abstract void robotRotation(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, float worldRotation);
 
     /**
      * 取货 robotLoad
-     * @param executorId 机器人编号
+     *
-     * @param rackItem 货架ID
+     * @param executorItem 机器人执行器
-     * @param bay 列
+     * @param runtime      物流运行时环境
-     * @param level 层
+     * @param task         任务计划
-     * @param cell 格
+     * @param rackItem     货架ID
-     * @param storeBarCode 地标二维码编号
+     * @param bay          列
-     * @param boxItem 容器ID
+     * @param level        层
+     * @param cell         格
      */
-    void robotLoad(String executorId, String rackItem,  int bay, int level, int cell, String storeBarCode, String boxItem);
+    public abstract void robotLoad(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String rackItem, int bay, int level, int cell);
 
     /**
      * 放货 robotUnload
-     * @param executorId 机器人编号
+     *
-     * @param rackItem 货架ID
+     * @param executorItem 机器人执行器
-     * @param bay 列
+     * @param runtime      物流运行时环境
-     * @param level 层
+     * @param task         任务计划
-     * @param cell 格
+     * @param rackItem     货架ID
-     * @param storeBarCode 地标二维码编号
+     * @param bay          列
+     * @param level        层
+     * @param cell         格
      */
-    void robotUnload(String executorId, String rackItem,  int bay, int level, int cell, String storeBarCode);
+    public abstract void robotUnload(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String rackItem, int bay, int level, int cell);
 
     /**
      * 充电 robotCharge
-     * @param executorId 机器人编号
+     *
-     * @param chargerItem 充电桩ID
+     * @param executorItem 机器人执行器
+     * @param runtime      物流运行时环境
+     * @param task         任务计划
+     * @param chargerItem  充电桩ID
      */
-    void robotCharger(String executorId, String chargerItem);
+    public abstract void robotCharger(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String chargerItem);
 
 }

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2ConnectorImp.java

@@ -1,29 +0,0 @@
-package com.galaxis.rcs.connector.cl2;
-
-public class Cl2ConnectorImp implements Cl2Connector {
-    @Override
-    public void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation) {
-        // 获取车当前位置
-
-    }
-
-    @Override
-    public void robotRotation(String executorId, double worldRotation) {
-
-    }
-
-    @Override
-    public void robotLoad(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode, String boxItem) {
-
-    }
-
-    @Override
-    public void robotUnload(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode) {
-
-    }
-
-    @Override
-    public void robotCharger(String executorId, String chargerItem) {
-
-    }
-}

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java

@@ -0,0 +1,59 @@
+package com.galaxis.rcs.connector.cl2;
+
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.yvan.logisticsModel.ExecutorItem;
+import com.yvan.logisticsModel.FlowItem;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import com.yvan.logisticsModel.StaticItem;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * CL2 车型报文推送
+ */
+@Slf4j
+public class Cl2DeviceConnector extends Cl2Connector {
+
+    @Override
+    public void robotMove(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String endPointId) {
+        log.info("Cl2DeviceConnector robotMove: executorItem={}, task={}, endPointId={}",
+            executorItem.getId(), task.getPlanTaskId(), endPointId);
+
+        // 获取静态数据（货架、地标等）
+        StaticItem pointItem = runtime.getStaticItemById(endPointId);
+        log.info("{}", pointItem);
+
+        // 获取车的数据
+        ExecutorItem agv = runtime.executorItemMap.get(executorItem.getId());
+        log.info("{}", agv);
+
+        // 获取箱子的数据
+        FlowItem box = runtime.flowItemMap.get("pallet1122");
+        log.info("{}", box);
+
+        log.info("车的当前位置是不可知的，要从实际情况中获取, 移动的路径一定是可以到达的，不用考虑转向问题。但 Speed 是正还是负，需要从当前车的角度情况下决定。");
+    }
+
+    @Override
+    public void robotRotation(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, float worldRotation) {
+        log.info("Cl2DeviceConnector robotRotation: executorItem={}, task={}, worldRotation={}",
+            executorItem.getId(), task.getPlanTaskId(), worldRotation);
+    }
+
+    @Override
+    public void robotLoad(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String rackItem, int bay, int level, int cell) {
+        log.info("Cl2DeviceConnector robotLoad: executorItem={}, task={}, rackItem={}, bay={}, level={}, cell={}",
+            executorItem.getId(), task.getPlanTaskId(), rackItem, bay, level, cell);
+    }
+
+    @Override
+    public void robotUnload(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String rackItem, int bay, int level, int cell) {
+        log.info("Cl2DeviceConnector robotUnload: executorItem={}, task={}, rackItem={}, bay={}, level={}, cell={}",
+            executorItem.getId(), task.getPlanTaskId(), rackItem, bay, level, cell);
+    }
+
+    @Override
+    public void robotCharger(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String chargerItem) {
+        log.info("Cl2DeviceConnector robotCharger: executorItem={}, task={}, chargerItem={}",
+            executorItem.getId(), task.getPlanTaskId(), chargerItem);
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/VirtualCl2Connector.java

@@ -1,33 +1,43 @@
 package com.galaxis.rcs.connector.cl2;
 
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.yvan.logisticsModel.ExecutorItem;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import lombok.extern.slf4j.Slf4j;
+
 /**
  * @author cwj
  * @since 2023/7/30
  */
-public class VirtualCl2Connector implements Cl2Connector {
+@Slf4j
-
+public class VirtualCl2Connector extends Cl2Connector {
     @Override
-    public void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation) {
+    public void robotMove(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String endWayPoint) {
-
+        log.info("VirtualCl2Connector robotMove: executorItem={}, task={}, endWayPoint={}",
+            executorItem.getId(), task.getPlanTaskId(), endWayPoint);
     }
 
     @Override
-    public void robotRotation(String executorId, double worldRotation) {
+    public void robotRotation(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, float worldRotation) {
-
+        log.info("VirtualCl2Connector robotRotation: executorItem={}, task={}, worldRotation={}",
+            executorItem.getId(), task.getPlanTaskId(), worldRotation);
     }
 
     @Override
-    public void robotLoad(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode, String boxItem) {
+    public void robotLoad(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String rackItem, int bay, int level, int cell) {
-
+        log.info("VirtualCl2Connector robotLoad: executorItem={}, task={}, rackItem={}, bay={}, level={}, cell={}",
+            executorItem.getId(), task.getPlanTaskId(), rackItem, bay, level, cell);
     }
 
     @Override
-    public void robotUnload(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode) {
+    public void robotUnload(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String rackItem, int bay, int level, int cell) {
-
+        log.info("VirtualCl2Connector robotUnload: executorItem={}, task={}, rackItem={}, bay={}, level={}, cell={}",
+            executorItem.getId(), task.getPlanTaskId(), rackItem, bay, level, cell);
     }
 
     @Override
-    public void robotCharger(String executorId, String chargerItem) {
+    public void robotCharger(ExecutorItem executorItem, LogisticsRuntime runtime, RcsTaskPlan task, String chargerItem) {
-
+        log.info("VirtualCl2Connector robotCharger: executorItem={}, task={}, chargerItem={}",
+            executorItem.getId(), task.getPlanTaskId(), chargerItem);
     }
 }

servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java

@@ -0,0 +1,97 @@
+package com.galaxis.rcs.plan;
+
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.galaxis.rcs.common.enums.PlanTaskStatus;
+import com.galaxis.rcs.common.enums.PlanTaskType;
+import com.google.common.collect.Lists;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import org.clever.core.id.SnowFlake;
+
+import java.math.BigDecimal;
+import java.util.Date;
+import java.util.List;
+
+public class PlanTaskSequence {
+    public static final SnowFlake snowFlake = new SnowFlake();
+    public final String executorId;
+    public final LogisticsRuntime logisticsRuntime;
+    public final List<RcsTaskPlan> taskList = Lists.newArrayList();
+    public final RcsTaskBiz bizTask;
+    public final String createBy;
+
+    public String lastWayPointId;
+    public Float lastRotationAngle = null;
+    public boolean isFinished = false;
+    public String lastLoadLpn = "";
+
+    public PlanTaskSequence(String executorId, LogisticsRuntime logisticsRuntime, RcsTaskBiz bizTask, String createBy) {
+        this.executorId = executorId;
+        this.logisticsRuntime = logisticsRuntime;
+        this.bizTask = bizTask;
+        this.createBy = createBy;
+    }
+
+    private RcsTaskPlan createTaskPlanEntity(String planType) {
+        RcsTaskPlan planTask = new RcsTaskPlan();
+        planTask.setPlanTaskId(snowFlake.nextId());
+        planTask.setBizTaskId(this.bizTask.getBizTaskId());
+        planTask.setEnvId(logisticsRuntime.logisticsEnv.getEnvId());
+        planTask.setPlanType(planType);
+        planTask.setExecutorId(this.executorId);
+        planTask.setSeq(taskList.size());
+        planTask.setPlanTaskStatus(PlanTaskStatus.PENDING.toString());
+        planTask.setPlanTaskErrorInfo("N/A");
+        planTask.setPlanTaskDescription("N/A");
+        planTask.setCreateBy(createBy);
+        planTask.setCreateAt(new Date());
+
+        taskList.add(planTask);
+        return planTask;
+    }
+
+    // 添加移动到指定路标点的动作
+    public RcsTaskPlan addMoveTo(String waypointId) {
+        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.MOVE.toString());
+        task.setTargetId(waypointId);
+        this.lastWayPointId = waypointId;
+        return task;
+    }
+
+    // 添加旋转动作
+    public RcsTaskPlan addRotationTo(float rotationAngle) {
+        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.ROTATION.toString());
+        task.setTargetRotation(new BigDecimal(rotationAngle));
+        this.lastRotationAngle = rotationAngle;
+        return task;
+    }
+
+    // 添加取货动作
+    public RcsTaskPlan addLoad(String lpn, String rackId, int bay, int level, int cell) {
+        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.LOAD.toString());
+        task.setTargetId(rackId);
+        task.setTargetBay(bay);
+        task.setTargetLevel(level);
+        task.setTargetCell(cell);
+        this.lastLoadLpn = lpn;
+        return task;
+    }
+
+    // 添加放货动作
+    public RcsTaskPlan addUnload(String item, int level, int bay, int cell) {
+        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.UNLOAD.toString());
+        task.setTargetId(item);
+        task.setTargetBay(bay);
+        task.setTargetLevel(level);
+        task.setTargetCell(cell);
+        this.lastLoadLpn = "";
+        return task;
+    }
+
+    // 添加完成动作
+    public RcsTaskPlan addFinish() {
+        RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.ROTATION.toString());
+        this.isFinished = true;
+        return task;
+    }
+}

servo/src/main/java/com/galaxis/rcs/plan/Planner.java

@@ -1,20 +0,0 @@
-package com.galaxis.rcs.plan;
-
-import com.galaxis.rcs.common.entity.RcsTaskBiz;
-import com.yvan.logisticsModel.ExecutorItem;
-import com.yvan.logisticsModel.LogisticsRuntime;
-
-/**
- * 任务执行器的计划接口
- * 用于定义如何执行任务计划
- */
-public interface Planner {
-    /**
-     * 执行任务计划
-     *
-     * @param runtime    物流运行时环境
-     * @param tasks      任务对象，包含任务的详细信息
-     * @param executorId 执行器ID
-     */
-    void executePlan(LogisticsRuntime runtime, RcsTaskBiz tasks, ExecutorItem executorId);
-}

servo/src/main/java/com/galaxis/rcs/plan/TaskPlannerFactory.java

@@ -1,5 +1,8 @@
 package com.galaxis.rcs.plan;
 
+import com.galaxis.rcs.plan.planner.PTRTaskPlanner;
+import com.galaxis.rcs.plan.planner.Planner;
+
 import java.util.Map;
 
 /**

servo/src/main/java/com/galaxis/rcs/plan/PTRTaskPlanner.java → servo/src/main/java/com/galaxis/rcs/plan/planner/PTRTaskPlanner.java

@@ -1,8 +1,9 @@
-package com.galaxis.rcs.plan;
+package com.galaxis.rcs.plan.planner;
 
 import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.common.enums.BizTaskStatus;
+import com.galaxis.rcs.plan.PlanTaskSequence;
 import com.google.common.collect.Lists;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
@@ -18,7 +19,7 @@ import static com.galaxis.rcs.common.query.QRcsTaskBiz.rcsTaskBiz;
  * PTR 任务规划器。
  * 用于处理 CL2 / CLX 等车型的任务规划
  */
-public class PTRTaskPlanner implements Planner {
+public class PTRTaskPlanner extends Planner {
 
     static final QueryDSL queryDSL = DaoFactory.getQueryDSL();
 
@@ -32,19 +33,18 @@ public class PTRTaskPlanner implements Planner {
     @Override
     public void executePlan(LogisticsRuntime runtime, RcsTaskBiz task, ExecutorItem agv) {
 
-
         // 绑定任务执行器
         task.setAllocatedExecutorId(agv.getId());
         task.setBizTaskStatus(BizTaskStatus.DEVICE_EXECUTING.toString());
         queryDSL.update(rcsTaskBiz)
             .populate(task)
-            .set(rcsTaskBiz.updateAt, new Date())
+            .set(rcsTaskBiz.updateAt, runtime.logisticsEnv.getCurrentDate())
             .set(rcsTaskBiz.updateBy, PTRTaskPlanner.class.getName())
             .where(rcsTaskBiz.bizTaskId.eq(task.getBizTaskId()))
             .execute();
         runtime.taskService.removeFromWaitingTaskList(task.getBizTaskId());
 
-        List<RcsTaskPlan> planList = Lists.newArrayList();
+        PlanTaskSequence planSequence = new PlanTaskSequence(agv.getId(), runtime, task, "demo");
 
 
         /*
@@ -131,23 +131,21 @@ finish.type = "robotFinish"; .executorId=当前机器人编号;
 
 按照这个示例，他输出结果为
 
-const cl2 = Model.getCl2('ptr1')
+// 规划任务序列
-const palletId = 'pallet1124'
+PlanTaskSequence planSequence = new PlanTaskSequence(executorId, logisticsRuntime, bizTask, "demo");
-const yy = Model.getPositionByEntityId(palletId).y
+planSequence.addMoveTo("23");
-
+planSequence.addRotationTo(90);
-move('23')
+planSequence.addMoveTo("27");
-rotation(90)
+planSequence.addLoad(lpn, "rack1", 0, 1, 0);
-move('27')
+planSequence.addMoveTo("23");
-load(level=1, cell=0)
+planSequence.addRotationTo(-90);
-move('23')
+planSequence.addMoveTo("20");
-rotation(-90)
+planSequence.addUnload("gst_01", 0, 0, 0);
-move('20')
+planSequence.addFinish();
-unload(level=0)
-finish()
 ```
          */
 
-        agv.executeTaskPlanList(runtime, task, planList);
+        this.appendSequence(planSequence);
     }
 
 }

servo/src/main/java/com/galaxis/rcs/plan/planner/Planner.java

@@ -0,0 +1,48 @@
+package com.galaxis.rcs.plan.planner;
+
+import com.galaxis.rcs.common.entity.RcsTaskBiz;
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.galaxis.rcs.common.query.QRcsTaskPlan;
+import com.galaxis.rcs.plan.PlanTaskSequence;
+import com.yvan.logisticsModel.ExecutorItem;
+import com.yvan.logisticsModel.LogisticsRuntime;
+import org.clever.data.jdbc.DaoFactory;
+import org.clever.data.jdbc.QueryDSL;
+
+import static com.galaxis.rcs.common.query.QRcsTaskPlan.rcsTaskPlan;
+
+/**
+ * 任务执行器的计划接口
+ * 用于定义如何执行任务计划
+ */
+public abstract class Planner {
+    /**
+     * 执行任务计划
+     *
+     * @param runtime  物流运行时环境
+     * @param bizTask  业务任务
+     * @param executor 执行器
+     */
+    public abstract void executePlan(LogisticsRuntime runtime, RcsTaskBiz bizTask, ExecutorItem executor);
+
+    /**
+     * 追加任务序列到当前计划中
+     */
+    public void appendSequence(PlanTaskSequence sequence) {
+        final QueryDSL queryDSL = DaoFactory.getQueryDSL();
+
+        LogisticsRuntime runtime = sequence.logisticsRuntime;
+        ExecutorItem agv = runtime.executorItemMap.get(sequence.executorId);
+        agv.appendSequence(sequence);
+
+        var batchAction = queryDSL.insert(rcsTaskPlan);
+        for (RcsTaskPlan task : sequence.taskList) {
+            batchAction.populate(task)
+                .addBatch();
+        }
+
+        if (batchAction.getBatchCount() > 0) {
+            batchAction.execute();
+        }
+    }
+}

servo/src/main/java/com/galaxis/rcs/task/RcsBizTask.java

@@ -1,4 +0,0 @@
-package com.galaxis.rcs.task;
-
-public class RcsBizTask {
-}

servo/src/main/java/com/galaxis/rcs/task/RcsDeviceTask.java

@@ -1,4 +0,0 @@
-package com.galaxis.rcs.task;
-
-public class RcsDeviceTask {
-}

servo/src/main/java/com/galaxis/rcs/task/RcsPlanTask.java

@@ -1,4 +0,0 @@
-package com.galaxis.rcs.task;
-
-public class RcsPlanTask {
-}

servo/src/main/java/com/galaxis/rcs/task/TaskDispatchFactory.java

@@ -7,6 +7,9 @@ import com.yvan.logisticsModel.LogisticsRuntime;
 
 import java.util.List;
 
+/**
+ * 任务指派器, 将任务指派给车
+ */
 public class TaskDispatchFactory {
     public final LogisticsRuntime logisticsRuntime;
     private TaiWanDispatcher dispatcher = new TaiWanDispatcher();

servo/src/main/java/com/galaxis/rcs/task/TaskService.java

@@ -5,6 +5,7 @@ import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.enums.BizTaskStatus;
 import com.galaxis.rcs.common.query.QRcsTaskBiz;
 import com.google.common.base.Strings;
+import com.google.common.collect.Lists;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import org.clever.core.Conv;
@@ -26,7 +27,7 @@ public class TaskService {
 
     static final QueryDSL queryDSL = DaoFactory.getQueryDSL();
     public final LogisticsRuntime logisticsRuntime;
-    public List<RcsTaskBiz> waitingTaskList;
+    public List<RcsTaskBiz> waitingTaskList = Lists.newArrayList();
 
     public TaskService(LogisticsRuntime logisticsRuntime) {
         this.logisticsRuntime = logisticsRuntime;
@@ -79,24 +80,29 @@ public class TaskService {
         String payload = JsonWrapper.toJson(request);
 
         Long taskId = DaoFactory.getJdbc().nextId("rcs_task_biz");
+
+        RcsTaskBiz task = new RcsTaskBiz();
+        task.setBizTaskId(taskId);
+        task.setEnvId(logisticsRuntime.logisticsEnv.getEnvId());
+        task.setBizType(request.type.toString());
+        task.setLpn(request.lpn);
+        task.setPriority(request.priority);
+        task.setTaskFrom(request.from.toString());
+        task.setTaskTo(request.to.toString());
+        task.setAllocatedExecutorId(request.taskExecutorId);
+        task.setBizTaskPayload(payload);
+        task.setBizTaskErrorInfo("N/A");
+        task.setBizTaskDescription(request.description);
+        task.setBizTaskStatus(BizTaskStatus.WAITING_FOR_DISPATCH.toString());
+        task.setCreateAt(logisticsRuntime.logisticsEnv.getCurrentDate());
+        task.setCreateBy(request.createBy);
+
         queryDSL.insert(rcsTaskBiz)
-            .set(rcsTaskBiz.bizTaskId, taskId)
+            .populate(task)
-            .set(rcsTaskBiz.envId, logisticsRuntime.logisticsEnv.getEnvId())
-            .set(rcsTaskBiz.bizType, request.type.toString())
-            .set(rcsTaskBiz.lpn, request.lpn)
-            .set(rcsTaskBiz.priority, request.priority)
-            .set(rcsTaskBiz.taskFrom, request.from.toString())
-            .set(rcsTaskBiz.taskTo, request.to.toString())
-            .set(rcsTaskBiz.allocatedExecutorId, request.taskExecutorId)
-            .set(rcsTaskBiz.bizTaskPayload, payload)
-            .set(rcsTaskBiz.bizTaskErrorInfo, "N/A")
-            .set(rcsTaskBiz.bizTaskDescription, request.description)
-            .set(rcsTaskBiz.bizTaskStatus, BizTaskStatus.WAITING_FOR_DISPATCH.toString())
-            .set(rcsTaskBiz.createAt, new Date())
-            .set(rcsTaskBiz.createBy, request.createBy)
             .execute();
 
         logisticsRuntime.taskDispatchFactory.checkAll();
+        this.waitingTaskList.add(task);
 
         return taskId.toString();
     }

servo/src/main/java/com/galaxis/rcs/task/dispatcher/TaiWanDispatcher.java

@@ -1,7 +1,7 @@
 package com.galaxis.rcs.task.dispatcher;
 
 import com.galaxis.rcs.common.entity.RcsTaskBiz;
-import com.galaxis.rcs.plan.Planner;
+import com.galaxis.rcs.plan.planner.Planner;
 import com.galaxis.rcs.plan.TaskPlannerFactory;
 import com.galaxis.rcs.task.TaskDispatchFactory;
 import com.yvan.logisticsModel.ExecutorItem;
@@ -14,8 +14,6 @@ public class TaiWanDispatcher {
     public void dispatchTask(TaskDispatchFactory factory, List<ExecutorItem> executorList, List<RcsTaskBiz> tasks) {
         // 台湾展会的任务分配逻辑
         for (ExecutorItem agv : executorList) {
-            String agvType = agv.getT();
-
             for (RcsTaskBiz task : tasks) {
                 if (Objects.equals(agv.getId(), task.getAllocatedExecutorId())) {
                     // 按车 ID 分配任务

servo/src/main/java/com/yvan/logisticsEnv/LogisticsEnv.java

@@ -1,9 +1,14 @@
 package com.yvan.logisticsEnv;
 
 import com.galaxis.rcs.common.enums.EnvStatus;
+import com.google.common.collect.Lists;
+import com.yvan.logisticsModel.ExecutorItem;
 import lombok.Getter;
 import lombok.Setter;
 
+import java.util.Date;
+import java.util.List;
+
 /**
  * 物流仓储环境上下文
  */
@@ -13,30 +18,57 @@ public class LogisticsEnv {
 
     private EnvStartParam startParam;
 
-    // 环境ID
+    /**
-    private Long envId;
+     * 环境ID
+     */
+    private long envId;
 
-    // 环境状态
+    /**
-    private EnvStatus state;
+     * 是否为虚拟环境
+     */
+    private boolean isVirtual;
 
     /**
-     * 获取AGV车列表
+     * 是否正在运行
      */
-    void getTasks() {
+    private boolean isRunning;
 
-    }
+    /**
+     * 环境开始时间
+     */
+    private long startTime;
 
     /**
-     * 载入地图
+     * 环境停止时间
      */
-    void loadMap() {
+    private long stopTime;
 
-    }
+    /**
+     * 时间流速倍率
+     */
+    private int timeRate;
 
     /**
-     * 获取库存分布状态
+     * 获取AGV车列表
      */
-    void loadInv() {
+    List<ExecutorItem> getExecutorList() {
+        return Lists.newArrayList();
+    }
+
+    public long currentTimeMillis() {
+        if (!this.isVirtual) {
+            // 正式环境，返回系统当前时间
+            return System.currentTimeMillis();
+        }
+        if (!this.isRunning) {
+            return this.stopTime;
+        }
+
+        long realCost = System.currentTimeMillis() - this.startTime;
+        return this.startTime + (realCost * this.timeRate);
+    }
 
+    public Date getCurrentDate() {
+        return new Date(this.currentTimeMillis());
     }
 }

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

@@ -1,25 +1,53 @@
 package com.yvan.logisticsModel;
 
+import com.fasterxml.jackson.annotation.JsonIgnore;
 import lombok.Data;
 import lombok.Getter;
+import org.clever.core.Conv;
 
+import java.util.List;
 import java.util.Map;
 
 /**
  * 物流单元基类
  */
 @Data
-public class BaseItem {
+public abstract class BaseItem {
-    String id;
+    final String id;
-    String t;
+    final String t;
 
     /**
      * 变换矩阵, 3x3矩阵, 采用Y轴向上为正, X轴向右, Z轴向前的右手坐标系
      */
-    float[][] tf;
+    final float[][] tf;
 
     /**
      * 物品的自定义数据
      */
-    Map<String, Object> dt;
+    @JsonIgnore
+    final Map<String, Object> dt;
+
+    @JsonIgnore
+    final Map<String, Object> raw;
+
+    public BaseItem(Map<String, Object> map) {
+        this.raw = map;
+        this.id = Conv.asString(map.get("id"));
+        this.t = Conv.asString(map.get("t"));
+
+        List tfRaw = (List) map.get("tf");
+
+        this.tf = new float[3][3];
+        this.tf[0][0] = Conv.asFloat(((List) tfRaw.get(0)).get(0));
+        this.tf[0][1] = Conv.asFloat(((List) tfRaw.get(0)).get(1));
+        this.tf[0][2] = Conv.asFloat(((List) tfRaw.get(0)).get(2));
+        this.tf[1][0] = Conv.asFloat(((List) tfRaw.get(1)).get(0));
+        this.tf[1][1] = Conv.asFloat(((List) tfRaw.get(1)).get(1));
+        this.tf[1][2] = Conv.asFloat(((List) tfRaw.get(1)).get(2));
+        this.tf[2][0] = Conv.asFloat(((List) tfRaw.get(2)).get(0));
+        this.tf[2][1] = Conv.asFloat(((List) tfRaw.get(2)).get(1));
+        this.tf[2][2] = Conv.asFloat(((List) tfRaw.get(2)).get(2));
+
+        this.dt = (Map<String, Object>) map.get("dt");
+    }
 }

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

@@ -0,0 +1,66 @@
+package com.yvan.logisticsModel;
+
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.galaxis.rcs.common.enums.PlanTaskStatus;
+import com.galaxis.rcs.connector.ConnectorFactory;
+import lombok.extern.slf4j.Slf4j;
+import org.jetbrains.annotations.NotNull;
+
+import java.util.concurrent.atomic.AtomicBoolean;
+
+@Slf4j
+public class ExecutorConnectorThread extends Thread {
+    private final AtomicBoolean running = new AtomicBoolean(false);
+
+    private final ExecutorItem executorItem;
+    private final LogisticsRuntime logisticsRuntime;
+
+    public ExecutorConnectorThread(ExecutorItem executorItem, LogisticsRuntime logisticsRuntime) {
+        super("ExecutorConnector-" + executorItem.getId());
+        this.executorItem = executorItem;
+        this.logisticsRuntime = logisticsRuntime;
+    }
+
+    @Override
+    public void run() {
+        running.set(true);
+        log.info("Connector thread started for executor: {}", this.executorItem.getId());
+
+        try {
+            while (running.get()) {
+                // 从队列中获取任务，如果队列为空则阻塞等待
+                RcsTaskPlan task = this.executorItem.planQueue.take();
+
+                try {
+                    // 处理任务
+                    ConnectorFactory.getConnector(this.executorItem.getT())
+                        .consume(this.executorItem, this.logisticsRuntime, task);
+
+                } catch (Exception e) {
+                    log.error("Error processing task: " + task, e);
+                    task.setPlanTaskErrorInfo(e.getMessage());
+                    task.setPlanTaskStatus(PlanTaskStatus.ERROR.toString());
+                }
+            }
+        } catch (InterruptedException e) {
+            System.out.println("Connector thread interrupted for executor: " + this.executorItem.getId());
+        } finally {
+            System.out.println("Connector thread stopped for executor: " + this.executorItem.getId());
+        }
+    }
+
+    /**
+     * 停止连接器线程
+     */
+    public void stopConnector() {
+        running.set(false);
+        this.interrupt(); // 中断阻塞状态
+    }
+
+    /**
+     * 检查连接器是否在运行
+     */
+    public boolean isRunning() {
+        return running.get();
+    }
+}

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

@@ -1,31 +1,116 @@
 package com.yvan.logisticsModel;
 
-import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
-import com.google.common.collect.Lists;
+import com.galaxis.rcs.plan.PlanTaskSequence;
+import com.google.common.collect.Queues;
+import com.yvan.workbench.model.entity.Vector2;
 
-import java.util.List;
+import java.util.Map;
+import java.util.Queue;
+import java.util.concurrent.BlockingQueue;
 
 /**
  * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等)
+ * 每个物流任务执行器都会有一个 Connector 线程，专门用来消费 currentPlanList 队列，变成实际的设备指令
  */
 public class ExecutorItem extends BaseItem {
+    private final int BLOCKING_QUEUE_CAPACITY = 100;
+    private final LogisticsRuntime logisticsRuntime;
+
+    /**
+     * 当前执行的任务规划列表
+     */
+    final BlockingQueue<RcsTaskPlan> planQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
+
+    /**
+     * 车执行完所有任务之后，停留在什么坐标点位实体上
+     */
+    public StaticItem planTargetItem;
+
+    /**
+     * 车当前旋转角度
+     */
+    public Float currentRotationAngle;
+
+    /**
+     * 车当前逻辑坐标位
+     */
+    public Vector2 currentLogicPosition;
+
+    /**
+     * 车当前世界坐标位
+     */
+    public Vector2 currentWorldPosition;
+
+    /**
+     * 计划目标坐标位, 执行完所有任务之后，车会停留在什么是世界角度
+     */
+    public Float planRotationAngle;
+
+    /**
+     * 连接器线程
+     */
+    private final ExecutorConnectorThread connectorThread;
 
-    private final List<RcsTaskPlan> currentPlanList = Lists.newArrayList();
 
     /**
-     * 执行规划任务
+     * 启动连接器线程
      */
-    public void executeTaskPlanList(LogisticsRuntime runtime, RcsTaskBiz task, List<RcsTaskPlan> planList) {
+    public void startConnector() {
-        if (this.currentPlanList.size() > 0) {
+        if (!connectorThread.isRunning()) {
-            throw new RuntimeException("has plans, please wait for the current plans to finish");
+            connectorThread.start();
+            System.out.println("Connector started for executor: " + this.getId());
+        }
+    }
+
+    /**
+     * 停止连接器线程
+     */
+    public void stopConnector() {
+        connectorThread.stop();
+        System.out.println("Connector stopped for executor: " + this.getId());
+    }
+
+    public ExecutorItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
+        super(raw);
+        this.logisticsRuntime = logisticsRuntime;
+        this.connectorThread = new ExecutorConnectorThread(this, logisticsRuntime);
+    }
+
+    /**
+     * 添加任务序列到当前执行器
+     */
+    public void appendSequence(PlanTaskSequence sequence) {
+        if (sequence == null || sequence.taskList.isEmpty()) {
+            return;
         }
 
+        // 检查 planList 是不是全都是我的任务
+        for (RcsTaskPlan plan : sequence.taskList) {
+            if (!plan.getExecutorId().equals(this.getId())) {
+                throw new RuntimeException("plan not belong executor:" + this.getId() + ", " + plan.getExecutorId());
+            }
+        }
+
+        LogisticsRuntime runtime = sequence.logisticsRuntime;
+
+        if (sequence.lastWayPointId != null) {
+            this.planTargetItem = runtime.getStaticItemById(sequence.lastWayPointId);
+        }
+        if (sequence.lastRotationAngle != null) {
+            this.planRotationAngle = sequence.lastRotationAngle;
+        }
+
+        planQueue.addAll(sequence.taskList);
+
         // TODO: 开启轮询线程，等待下一个待执行任务
-        // 找到对应类型的 connector，进行报文的发送
     }
 
+    /**
+     * 执行器是否空闲
+     */
     public boolean isFree() {
-        throw new RuntimeException("not implemented yet, please implement isFree method in ExecutorItem");
+        return (this.planQueue.isEmpty() && this.connectorThread.isRunning());
     }
+
 }

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

@@ -9,9 +9,14 @@ import java.util.Map;
  */
 public class Floor {
 
+    public final String id;
+
     /**
      * 物流固定单元（非箱子容器/非执行器的单元），比如输送线、货架、地标、路线等
      */
-    public final Map<String, StaticItem> itemMap = Maps.newConcurrentMap();
+    public final Map<String, StaticItem> itemMap = Maps.newHashMap();
 
+    public Floor(String id) {
+        this.id = id;
+    }
 }

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

@@ -1,7 +1,12 @@
 package com.yvan.logisticsModel;
 
+import java.util.Map;
+
 /**
  * 物流流动单元（周转箱、托盘等）
  */
 public class FlowItem extends BaseItem {
+    public FlowItem(Map<String, Object> map) {
+        super(map);
+    }
 }

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

@@ -1,5 +1,6 @@
 package com.yvan.logisticsModel;
 
+import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.plan.path.NavigationGraph;
 import com.galaxis.rcs.task.TaskDispatchFactory;
@@ -7,13 +8,18 @@ import com.galaxis.rcs.task.TaskService;
 import com.google.common.collect.Lists;
 import com.google.common.collect.Maps;
 import com.yvan.logisticsEnv.LogisticsEnv;
+import com.yvan.workbench.model.entity.Vector2;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.Conv;
+import org.clever.core.json.JsonWrapper;
 
 import java.util.List;
 import java.util.Map;
 
 /**
- * 物流
+ * 物流上下文运行时
  */
+@Slf4j
 public class LogisticsRuntime {
 
     /**
@@ -24,27 +30,30 @@ public class LogisticsRuntime {
     /**
      * 任务服务
      */
+    @JsonIgnore
     public TaskService taskService = new TaskService(this);
 
     /**
      * 任务分配服务
      */
+    @JsonIgnore
     public TaskDispatchFactory taskDispatchFactory = new TaskDispatchFactory(this);
 
     /**
      * 物流流动单元（周转箱、托盘、纸箱等）
      */
-    public final Map<String, FlowItem> flowItemMap = Maps.newConcurrentMap();
+    public final Map<String, FlowItem> flowItemMap = Maps.newHashMap();
 
     /**
      * 物流任务执行单元(如拣货台、小车、AGV、堆垛机、人等)
      */
-    public final Map<String, ExecutorItem> executorItemMap = Maps.newConcurrentMap();
+    public final Map<String, ExecutorItem> executorItemMap = Maps.newHashMap();
 
     /**
      * AGV导航地图 车类型 t -> NavigationGraph
      */
-    public final Map<String, NavigationGraph> executorGraphMap = Maps.newConcurrentMap();
+    @JsonIgnore
+    public final Map<String, NavigationGraph> executorGraphMap = Maps.newHashMap();
 
     /**
      * 楼层目录 catalogCode -> Floor
@@ -69,4 +78,75 @@ public class LogisticsRuntime {
     }
 
 
+    /**
+     * 根据 ID 获取静态物品（如路标点、货架等）
+     */
+    public StaticItem getStaticItemById(String itemId) {
+        // 到所有楼层寻找这个物品
+        for (Floor floor : this.floorMap.values()) {
+            StaticItem item = floor.itemMap.get(itemId);
+            if (item != null) {
+                return item;
+            }
+        }
+        return null;
+    }
+
+    /**
+     * 读取某个楼层的地图数据
+     * 格式必须是如下模式:
+     * <pre>
+     * {
+     *     "catalogCode": "f2",
+     *     "t": "floor",
+     *     "items": []
+     * }
+     * </pre>
+     *
+     * @param jw 原始 Json 读取器
+     */
+    public void loadMap(JsonWrapper jw) {
+        if (!"floor".equals(jw.asStr("t"))) {
+            throw new RuntimeException("loadMap error, not floor type: " + jw.asStr("t"));
+        }
+        List<Map<String, Object>> items = (List<Map<String, Object>>) jw.getInnerMap().get("items");
+
+        Floor floor = new Floor(jw.asStr("catalogCode"));
+        this.floorMap.put(floor.id, floor);
+
+        for (Map<String, Object> itemObject : items) {
+            String t = Conv.asString(itemObject.get("t"));
+            BaseItem item;
+            switch (t) {
+                case "way":
+                case "gstore":
+                case "rack":
+                    item = new StaticItem(itemObject);
+                    floor.itemMap.put(item.getId(), (StaticItem) item);
+                    break;
+
+                case "pallet":
+                case "carton":
+                    item = new FlowItem(itemObject);
+                    this.flowItemMap.put(item.getId(), (FlowItem) item);
+                    break;
+
+                case "cl2":
+                case "clx":
+                    item = new ExecutorItem(this, itemObject);
+                    this.executorItemMap.put(item.getId(), (ExecutorItem) item);
+                    break;
+            }
+        }
+    }
+
+    public void start() {
+        // 开启所有机器人的任务调度
+        for (ExecutorItem executorItem : executorItemMap.values()) {
+            executorItem.startConnector();
+            log.info("Executor {} started", executorItem.getId());
+        }
+
+        this.taskDispatchFactory.startPolling();
+    }
 }

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

@@ -1,6 +1,7 @@
 package com.yvan.logisticsModel;
 
 import com.google.common.collect.Maps;
+import com.yvan.logisticsEnv.LogisticsEnv;
 
 import java.util.Map;
 
@@ -8,17 +9,30 @@ import java.util.Map;
  * 物流运行时服务类
  */
 public class LogisticsRuntimeService {
-
+    private static final Object LOCK = new Object();
-    private final Map<String, LogisticsRuntime> runtimeMap = Maps.newConcurrentMap();
+    private static final Map<Long, LogisticsRuntime> runtimeMap = Maps.newHashMap();
 
     /**
      * 根据 EnvCode 查找物流运行时实例
      */
-    public LogisticsRuntime findByEnvCode(String envCode) {
+    public static LogisticsRuntime findByEnvCode(long envId) {
-        LogisticsRuntime runtime = runtimeMap.get(envCode);
+        synchronized (LOCK) {
-        if (runtime != null) {
+            LogisticsRuntime runtime = runtimeMap.get(envId);
-            return runtime;
+            if (runtime != null) {
+                return runtime;
+            }
+            throw new RuntimeException("LogisticsRuntime not found for envCode: " + envId);
+        }
+    }
+
+    public static void createEnv(int envId) {
+        synchronized (LOCK) {
+            LogisticsEnv env = new LogisticsEnv();
+            env.setEnvId(envId);
+            env.setVirtual(envId != 1);
+
+            LogisticsRuntime runtime = new LogisticsRuntime(env);
+            runtimeMap.put(env.getEnvId(), runtime);
         }
-        throw new RuntimeException("LogisticsRuntime not found for envCode: " + envCode);
     }
 }

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

@@ -1,10 +1,21 @@
 package com.yvan.logisticsModel;
 
+import org.clever.core.Conv;
+
 import java.util.Map;
 
 /**
  * 物流固定单元（非箱子容器/非执行器的单元），比如输送线、货架、地标、路线等
  */
-public class StaticItem  extends BaseItem {
+public class StaticItem extends BaseItem {
+    public int logicX;
+    public int logicY;
+    public int logicZ;
 
+    public StaticItem(Map<String, Object> map) {
+        super(map);
+        this.logicX = Conv.asInteger(map.get("logicX"));
+        this.logicY = Conv.asInteger(map.get("logicY"));
+        this.logicZ = Conv.asInteger(map.get("logicZ"));
+    }
 }

servo/src/main/java/com/yvan/logisticsMonitor/dashboard/DashboardManager.java

@@ -1,31 +1,4 @@
 package com.yvan.logisticsMonitor.dashboard;
 
-import com.galaxis.rcs.connector.cl2.Cl2Connector;
+public class DashboardManager {
-
-public class DashboardManager implements Cl2Connector {
-
-    @Override
-    public void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation) {
-
-    }
-
-    @Override
-    public void robotRotation(String executorId, double worldRotation) {
-
-    }
-
-    @Override
-    public void robotLoad(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode, String boxItem) {
-
-    }
-
-    @Override
-    public void robotUnload(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode) {
-
-    }
-
-    @Override
-    public void robotCharger(String executorId, String chargerItem) {
-
-    }
 }

servo/src/main/java/com/yvan/workbench/controller/EnvController.java

@@ -1,13 +1,12 @@
 package com.yvan.workbench.controller;
 
+import com.galaxis.rcs.RCS;
 import com.yvan.workbench.model.entity.Model;
 import org.clever.core.Conv;
-import org.clever.core.json.JsonWrapper;
 import org.clever.data.jdbc.DaoFactory;
 import org.clever.data.jdbc.QueryDSL;
 import org.clever.data.jdbc.querydsl.utils.QueryDslUtils;
 import org.clever.web.mvc.annotation.RequestBody;
-import org.springframework.data.redis.core.query.QueryUtils;
 import org.springframework.web.bind.annotation.ResponseBody;
 
 import java.util.LinkedHashMap;
@@ -19,7 +18,6 @@ import static com.galaxis.rcs.common.query.QLccEnvInfo.lccEnvInfo;
 public class EnvController {
     static final QueryDSL queryDSL = DaoFactory.getQueryDSL();
 
-    @ResponseBody
     public static Model<List<LinkedHashMap<String, Object>>> getAllEnv(@RequestBody Map<String, Object> params) {
         var list = queryDSL.select(QueryDslUtils.linkedMap(lccEnvInfo))
             .from(lccEnvInfo)
@@ -28,4 +26,13 @@ public class EnvController {
 
         return Model.newSuccess(list);
     }
+
+    public static Model<?> runDemo() {
+        RCS.runDemo();
+        return Model.newSuccess(true);
+    }
+
+    public static Model<?> getDemo() {
+        return Model.newSuccess(RCS.getDemo());
+    }
 }

servo/src/main/java/com/yvan/workbench/model/entity/Vector2.java

@@ -0,0 +1,13 @@
+package com.yvan.workbench.model.entity;
+
+public record Vector2(
+    /**
+     * X坐标
+     */
+    float x,
+    /**
+     * Y坐标
+     */
+    float y) {
+
+}

servo/src/main/resources/application-dev.yml

@@ -1,3 +1,6 @@
+server:
+  port: 7779
+
 app:
   root-path: './'
 

servo/src/test/java/com/yvan/workbench/CodegenTest.java

@@ -29,7 +29,7 @@ public class CodegenTest {
 //            .addTable("rcs_task_biz")
 //        .addTable("rcs_task_device")
 //        .addTable("rcs_task_plan");
-            .addTable("lcc_env_info");
+            .addTable("rcs_task_plan");
         CodegenUtils.genCode(jdbc, config);
         log.info("-->");
         jdbc.close();