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Charger 充电API 已完成

master
修宁 6 months ago
parent
7f15fc32dd
commit
658bdc3e3c
7 changed files with 608 additions and 82 deletions
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  1. 562
      examples/f1.json
  2. 9
      servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
  3. 44
      servo/src/main/java/com/galaxis/rcs/plan/path/PtrPathPlanner.java
  4. 3
      servo/src/main/java/com/galaxis/rcs/plan/task/ChargerTask.java
  5. 50
      servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java
  6. 16
      servo/src/main/java/com/yvan/workbench/controller/RcsController.java
  7. 6
      servo/src/test/java/com/yvan/workbench/CodegenTest.java

562
examples/f1.json
View File

@ -16,7 +16,7 @@
], ],
[ [
2.2, 2.2,
2.8, 1.211,
1 1
] ]
], ],
@ -34,23 +34,25 @@
{ {
"bayWidth": 1.1, "bayWidth": 1.1,
"levelHeight": [ "levelHeight": [
1.4, 0.001,
1.4 1.21
] ],
"topHeight": 2
}, },
{ {
"bayWidth": 1.1, "bayWidth": 1.1,
"levelHeight": [ "levelHeight": [
1.4, 0.001,
1.4 1.21
] ],
"topHeight": 2
} }
], ],
"center": [], "center": [],
"in": [], "in": [],
"out": [], "out": [],
"rackWidth": 2.2, "rackWidth": 2.2,
"rackHeight": 2.8 "rackHeight": 1.211
}, },
"_rid": "_2" "_rid": "_2"
}, },
@ -71,7 +73,7 @@
], ],
[ [
2.2, 2.2,
2.8, 2.186,
1 1
] ]
], ],
@ -89,28 +91,59 @@
{ {
"bayWidth": 1.1, "bayWidth": 1.1,
"levelHeight": [ "levelHeight": [
1.4, 0.001,
1.4 2.185
] ],
"topHeight": 2
}, },
{ {
"bayWidth": 1.1, "bayWidth": 1.1,
"levelHeight": [ "levelHeight": [
1.4, 0.001,
1.4 2.185
] ],
"topHeight": 2
} }
], ],
"center": [], "center": [],
"in": [], "in": [],
"out": [], "out": [],
"rackWidth": 2.2, "rackWidth": 2.2,
"rackHeight": 2.8 "rackHeight": 2.186
}, },
"_rid": "_3" "_rid": "_3"
}, },
{ {
"id": "1_2", "id": "105_105",
"t": "gstore",
"v": true,
"tf": [
[
4.44,
0,
1.5
],
[
0,
0,
0
],
[
1,
0.01,
1.2
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"strokeWidth": 0.1
},
"_rid": "_4"
},
{
"id": "6_4",
"t": "way", "t": "way",
"v": true, "v": true,
"logicX": 1, "logicX": 1,
@ -134,10 +167,10 @@
], ],
"dt": { "dt": {
"in": [ "in": [
"2_2" "7_4"
], ],
"out": [ "out": [
"2_2" "7_4"
], ],
"center": [], "center": [],
"linkStore": [ "linkStore": [
@ -157,10 +190,10 @@
} }
] ]
}, },
"_rid": "_4" "_rid": "_5"
}, },
{ {
"id": "2_2", "id": "7_4",
"t": "way", "t": "way",
"v": true, "v": true,
"logicX": 2, "logicX": 2,
@ -184,12 +217,12 @@
], ],
"dt": { "dt": {
"in": [ "in": [
"1_2", "6_4",
"3_2" "8_4"
], ],
"out": [ "out": [
"1_2", "6_4",
"3_2" "8_4"
], ],
"center": [], "center": [],
"linkStore": [ "linkStore": [
@ -209,10 +242,10 @@
} }
] ]
}, },
"_rid": "_5" "_rid": "_6"
}, },
{ {
"id": "3_2", "id": "8_4",
"t": "way", "t": "way",
"v": true, "v": true,
"logicX": 3, "logicX": 3,
@ -236,12 +269,12 @@
], ],
"dt": { "dt": {
"in": [ "in": [
"2_2", "7_4",
"4_2" "9_4"
], ],
"out": [ "out": [
"2_2", "7_4",
"4_2" "9_4"
], ],
"center": [], "center": [],
"linkStore": [ "linkStore": [
@ -261,10 +294,10 @@
} }
] ]
}, },
"_rid": "_6" "_rid": "_7"
}, },
{ {
"id": "4_2", "id": "9_4",
"t": "way", "t": "way",
"v": true, "v": true,
"logicX": 4, "logicX": 4,
@ -288,12 +321,12 @@
], ],
"dt": { "dt": {
"in": [ "in": [
"3_2", "8_4",
"5_2" "10_4"
], ],
"out": [ "out": [
"3_2", "8_4",
"5_2" "10_4"
], ],
"center": [], "center": [],
"linkStore": [ "linkStore": [
@ -310,13 +343,20 @@
"level": 1, "level": 1,
"cell": 0, "cell": 0,
"direction": "up" "direction": "up"
},
{
"item": "105_105",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "down"
} }
] ]
}, },
"_rid": "_7" "_rid": "_8"
}, },
{ {
"id": "5_2", "id": "10_4",
"t": "way", "t": "way",
"v": true, "v": true,
"logicX": 5, "logicX": 5,
@ -340,19 +380,19 @@
], ],
"dt": { "dt": {
"in": [ "in": [
"4_2", "9_4",
"6_2" "11_4"
], ],
"out": [ "out": [
"4_2", "9_4",
"6_2" "11_4"
], ],
"center": [] "center": []
}, },
"_rid": "_8" "_rid": "_9"
}, },
{ {
"id": "6_2", "id": "11_4",
"t": "way", "t": "way",
"v": true, "v": true,
"logicX": 6, "logicX": 6,
@ -376,10 +416,12 @@
], ],
"dt": { "dt": {
"in": [ "in": [
"5_2" "10_4",
"charger1"
], ],
"out": [ "out": [
"5_2" "10_4",
"charger1"
], ],
"center": [], "center": [],
"agvRotation": [ "agvRotation": [
@ -387,16 +429,61 @@
"clx" "clx"
] ]
}, },
"_rid": "_9" "_rid": "_10"
}, },
{ {
"id": "3", "id": "5_4",
"t": "cl2", "t": "way",
"v": true, "v": true,
"logicX": 5,
"logicY": 4,
"tf": [ "tf": [
[ [
6.440, -0.29,
0.01,
0
],
[
0, 0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"4_4"
],
"out": [
"4_4"
],
"center": [],
"linkStore": [
{
"item": "rack3",
"bay": 1,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_11"
},
{
"id": "4_4",
"t": "way",
"v": true,
"logicX": 4,
"logicY": 4,
"tf": [
[
-1.39,
0.01,
0 0
], ],
[ [
@ -405,18 +492,377 @@
0 0
], ],
[ [
1.5, 0.25,
1.98, 0.1,
1.5 0.25
]
],
"dt": {
"in": [
"5_4",
"3_4"
],
"out": [
"5_4",
"3_4"
],
"center": [],
"linkStore": [
{
"item": "rack3",
"bay": 0,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_12"
},
{
"id": "3_4",
"t": "way",
"v": true,
"logicX": 3,
"logicY": 4,
"tf": [
[
-2.34,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"4_4",
"2_4"
],
"out": [
"4_4",
"2_4"
],
"center": []
},
"_rid": "_13"
},
{
"id": "2_4",
"t": "way",
"v": true,
"logicX": 2,
"logicY": 4,
"tf": [
[
-3.34,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"1_4",
"3_4"
],
"out": [
"1_4",
"3_4"
],
"center": []
},
"_rid": "_14"
},
{
"id": "1_4",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 4,
"tf": [
[
-4.34,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"2_4",
"1_3"
],
"out": [
"2_4",
"1_3"
],
"center": [],
"agvRotation": [
"cl2",
"clx"
]
},
"_rid": "_15"
},
{
"id": "1_3",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 3,
"tf": [
[
-4.34,
0.01,
-1
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"1_4",
"1_2"
],
"out": [
"1_4",
"1_2"
],
"center": [],
"linkStore": [
{
"item": "108_108",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "left"
}
]
},
"_rid": "_16"
},
{
"id": "1_2",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 2,
"tf": [
[
-4.34,
0.01,
-2
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"1_3",
"charger2"
],
"out": [
"1_3",
"charger2"
],
"center": []
},
"_rid": "_17"
},
{
"id": "charger2",
"t": "charger",
"v": true,
"tf": [
[
-4.34,
0.01,
-2.4
],
[
0,
180,
0
],
[
0.6,
1,
0.3
]
],
"dt": {
"in": [
"1_2"
],
"out": [
"1_2"
],
"center": [],
"isCharger": true,
"chargerPortDirection": "down"
},
"_rid": "_18"
},
{
"id": "charger1",
"t": "charger",
"v": true,
"tf": [
[
6.84,
0.01,
0
],
[
0,
90,
0
],
[
0.6,
1,
0.3
]
],
"dt": {
"in": [
"11_4"
],
"out": [
"11_4"
],
"center": [],
"chargerPortDirection": "left"
},
"_rid": "_19"
},
{
"id": "rack3",
"t": "rack",
"v": true,
"tf": [
[
-0.82,
0,
-1.5
],
[
0,
0,
0
],
[
2.2,
2.186,
1
]
],
"dt": {
"rackDepth": 1,
"bottomBarHeight": 0.2,
"bottomLinkHeight": 0.2,
"topLinkDistance": 0.2,
"levelCount": 2,
"bayCount": 2,
"hideFloor": 0,
"extendColumns": 1,
"columnSpacing": 1,
"bays": [
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
2.185
],
"topHeight": 2
},
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
2.185
],
"topHeight": 2
}
],
"center": [],
"in": [],
"out": [],
"rackWidth": 2.2,
"rackHeight": 2.186
},
"_rid": "_20"
},
{
"id": "108_108",
"t": "gstore",
"v": true,
"tf": [
[
-6,
0,
-1
],
[
0,
-90,
0
],
[
1,
0.01,
1.2
] ]
], ],
"dt": { "dt": {
"in": [], "in": [],
"out": [], "out": [],
"center": [], "center": [],
"ptrWidth": 1.5, "strokeWidth": 0.1
"ptrDepth": 1.5, },
"ptrHeight": 1.98 "_rid": "_21"
}
} }
] ]

9
servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java
View File

@ -74,6 +74,12 @@ public class PlanTaskSequence {
return task; return task;
} }
public RcsTaskPlan addChargerBackward(String chargerId) {
RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.CHARGE.toString());
task.setTargetId(chargerId);
return task;
}
// 添加旋转动作 // 添加旋转动作
public RcsTaskPlan addRotationTo(float rotationAngle) { public RcsTaskPlan addRotationTo(float rotationAngle) {
RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.ROTATION.toString()); RcsTaskPlan task = this.createTaskPlanEntity(PlanTaskType.ROTATION.toString());
@ -129,6 +135,9 @@ public class PlanTaskSequence {
case MOVE_BACKWARD: case MOVE_BACKWARD:
taskStr = "MOVE_BACKWARD " + task.getTargetId(); taskStr = "MOVE_BACKWARD " + task.getTargetId();
break; break;
case CHARGE:
taskStr = "CHARGE " + task.getTargetId();
break;
case LOAD: case LOAD:
taskStr = "LOAD " + task.getTargetId() + "_" + task.getTargetBay() + "_" + task.getTargetLevel() + "_" + task.getTargetCell(); taskStr = "LOAD " + task.getTargetId() + "_" + task.getTargetBay() + "_" + task.getTargetLevel() + "_" + task.getTargetCell();
break; break;

44
servo/src/main/java/com/galaxis/rcs/plan/path/PtrPathPlanner.java
View File

@ -3,6 +3,9 @@ package com.galaxis.rcs.plan.path;
import com.galaxis.rcs.common.enums.LCCDirection; import com.galaxis.rcs.common.enums.LCCDirection;
import com.galaxis.rcs.plan.PlanTaskSequence; import com.galaxis.rcs.plan.PlanTaskSequence;
import com.galaxis.rcs.plan.task.*; import com.galaxis.rcs.plan.task.*;
import com.google.common.base.Strings;
import com.yvan.logisticsModel.StaticItem;
import org.clever.core.Conv;
import java.util.List; import java.util.List;
@ -17,8 +20,47 @@ public class PtrPathPlanner {
this.astar = new AStarPathPlanner(graph); this.astar = new AStarPathPlanner(graph);
} }
public void planChargerTask(PlanTaskSequence planSequence, String id, LCCDirection fromDirection, ChargerTask chargerTask) { public void planChargerTask(PlanTaskSequence plan, String startNodeId, LCCDirection startDirection, ChargerTask chargerTask) {
/*
{
"id": "charger1",
"t": "way",
"dt": {
"in": [
"11_4"
],
"out": [
"11_4"
],
"center": [],
"chargerPortDirection": "left"
},
}
*/
// 获取充电器的 in:[] 第一个值作为移动目标, chargerPortDirection 作为目标方向
StaticItem chargerPoint = plan.logisticsRuntime.getStaticItemById(chargerTask.chargerPointId());
if (chargerPoint == null) {
throw new RuntimeException("Charger point not found for id: " + chargerTask.chargerPointId());
}
List<String> inList = (List<String>) chargerPoint.dt.get("in");
if (inList == null || inList.isEmpty()) {
throw new RuntimeException("Charger point 'in' list is empty for id: " + chargerTask.chargerPointId());
}
String chargerPortDirection = Conv.asString(chargerPoint.dt.get("chargerPortDirection"));
if (Strings.isNullOrEmpty(chargerPortDirection)) {
throw new RuntimeException("Charger point 'chargerPortDirection' is empty for id: " + chargerTask.chargerPointId());
}
LCCDirection chargerDirection = LCCDirection.fromString(chargerPortDirection);
Node node = this.graph.getNodeById(inList.get(0));
if (node == null) {
throw new RuntimeException("Charger point 'dt.in[0]', Node not found, id: " + inList.get(0));
}
List<State> toPath = astar.findPath(startNodeId, startDirection, node.id(), chargerDirection);
generateMoves(plan, toPath);
plan.addChargerBackward(chargerTask.chargerPointId());
plan.addFinish();
} }
public void planMoveTask(PlanTaskSequence plan, String startNodeId, LCCDirection startDirection, MoveTask moveTask) { public void planMoveTask(PlanTaskSequence plan, String startNodeId, LCCDirection startDirection, MoveTask moveTask) {

3
servo/src/main/java/com/galaxis/rcs/plan/task/ChargerTask.java
View File

@ -4,6 +4,5 @@ import com.galaxis.rcs.common.enums.LCCDirection;
public record ChargerTask( public record ChargerTask(
String agv, String agv,
String targetWayPointId, String chargerPointId) {
LCCDirection targetDirection) {
} }

50
servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java
View File

@ -1,8 +1,10 @@
package com.yvan.logisticsModel; package com.yvan.logisticsModel;
import com.fasterxml.jackson.annotation.JsonIgnore; import com.fasterxml.jackson.annotation.JsonIgnore;
import com.galaxis.rcs.common.enums.LCCDirection;
import com.galaxis.rcs.connector.cl2.Cl2Item; import com.galaxis.rcs.connector.cl2.Cl2Item;
import com.galaxis.rcs.plan.path.NavigationGraph; import com.galaxis.rcs.plan.path.NavigationGraph;
import com.galaxis.rcs.plan.path.PathUtils;
import com.galaxis.rcs.plan.path.PtrPathPlanner; import com.galaxis.rcs.plan.path.PtrPathPlanner;
import com.galaxis.rcs.ptr.AgvEventManager; import com.galaxis.rcs.ptr.AgvEventManager;
import com.galaxis.rcs.ptr.AmrMessageHandler; import com.galaxis.rcs.ptr.AmrMessageHandler;
@ -154,6 +156,7 @@ public class LogisticsRuntime {
case "way": case "way":
case "gstore": case "gstore":
case "rack": case "rack":
case "charger":
item = new StaticItem(this, itemObject); item = new StaticItem(this, itemObject);
floor.itemMap.put(item.getId(), (StaticItem) item); floor.itemMap.put(item.getId(), (StaticItem) item);
break; break;
@ -185,6 +188,7 @@ public class LogisticsRuntime {
.fetch(); .fetch();
for (var item : list) { for (var item : list) {
// 车的属性
String payload = Conv.asString(item.get("virtual_executor_payload")); String payload = Conv.asString(item.get("virtual_executor_payload"));
/** /**
* { * {
@ -199,13 +203,47 @@ public class LogisticsRuntime {
* } * }
*/ */
JsonWrapper jwPayload = new JsonWrapper(payload); JsonWrapper jwPayload = new JsonWrapper(payload);
if ("cl2".equals(jwPayload.asStr("t"))) {
var eitem = new Cl2Item(this, (Map<String, Object>) jwPayload.getInnerMap());
this.executorItemMap.put(eitem.getId(), eitem);
} else if ("clx".equals(jwPayload.asStr("t"))) { switch (jwPayload.asStr("t")) {
var eitem = new Cl2Item(this, (Map<String, Object>) jwPayload.getInnerMap()); case "cl2":
this.executorItemMap.put(eitem.getId(), eitem); case "clx":
// 处理 CL2 或 CLX 类型的执行器
// 车所在的标记位置，及方向 11_4:RIGHT
if (Conv.asString(item.get("virtual_location_at")).contains(":")) {
String[] parts = Conv.asString(item.get("virtual_location_at")).split(":");
if (parts.length == 2) {
String wayPointId = parts[0];
String direction = parts[1];
var eitem = new Cl2Item(this, (Map<String, Object>) jwPayload.getInnerMap());
// 找到地标位置
StaticItem staticItem = this.getStaticItemById(wayPointId);
if (staticItem != null) {
eitem.logicX = staticItem.logicX;
eitem.logicY = staticItem.logicY;
eitem.direction = PathUtils.convertDirectionToPtrDiretion(LCCDirection.fromString(direction));
this.executorItemMap.put(eitem.getId(), eitem);
} else {
log.warn("Static item not found for wayPointId: {}", wayPointId);
continue; // 跳过未找到的地标
}
} else {
log.warn("Invalid virtual_location_at format: {}, id:{}", item.get("virtual_location_at"), item.get("id"));
continue;
}
} else {
log.warn("Invalid virtual_location_at is null, id:{}", item.get("id"));
continue;
}
break;
default:
log.warn("Unknown executor type: {}", jwPayload.asStr("t"));
continue; // 跳过未知类型
} }
} }
} }

16
servo/src/main/java/com/yvan/workbench/controller/RcsController.java
View File

@ -28,24 +28,20 @@ public class RcsController {
} }
RcsCommonParam ps = (RcsCommonParam) ret; RcsCommonParam ps = (RcsCommonParam) ret;
String targetWayPointId = Conv.asString(params.get("targetWayPointId")); String chargerId = Conv.asString(params.get("chargerId"));
if (Strings.isNullOrEmpty(targetWayPointId)) { if (Strings.isNullOrEmpty(chargerId)) {
return Model.newFail("targetWayPointId Must not be empty"); return Model.newFail("chargerId Must not be empty");
}
String targetDirection = Conv.asString(params.get("targetDirection"));
if (Strings.isNullOrEmpty(targetDirection)) {
targetDirection = ps.fromDirection.toString();
} }
StaticItem toItem = ps.runtime.getStaticItemById(targetWayPointId); StaticItem toItem = ps.runtime.getStaticItemById(chargerId);
if (toItem == null) { if (toItem == null) {
return Model.newFail("target wayPoint not found!"); return Model.newFail("target wayPoint not found!");
} }
ps.bizTask.setTaskTo(targetWayPointId); ps.bizTask.setTaskTo(chargerId);
ChargerTask chargerTask = new ChargerTask( ChargerTask chargerTask = new ChargerTask(
ps.agvId, ps.bizTask.getTaskTo(), LCCDirection.fromString(targetDirection, ps.fromDirection) ps.agvId, ps.bizTask.getTaskTo()
); );
ps.runtime.pathPlannerMap.get(ps.agv.getT()) ps.runtime.pathPlannerMap.get(ps.agv.getT())

6
servo/src/test/java/com/yvan/workbench/CodegenTest.java
View File

@ -29,11 +29,7 @@ public class CodegenTest {
// .addTable("rcs_task_biz") // .addTable("rcs_task_biz")
// .addTable("rcs_task_device") // .addTable("rcs_task_device")
// .addTable("rcs_task_plan"); // .addTable("rcs_task_plan");
.addTable("lcc_bas_container") .addTable("lcc_bas_location");
.addTable("lcc_bas_executor")
.addTable("lcc_bas_location")
.addTable("lcc_inv_lpn")
.addTable("lcc_inv_ledger");
CodegenUtils.genCode(jdbc, config); CodegenUtils.genCode(jdbc, config);
log.info("-->"); log.info("-->");
jdbc.close(); jdbc.close();

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