Agv Event 体系

servo/src/main/java/com/galaxis/rcs/plan/path/PathUtils.java

@@ -208,4 +208,14 @@ public class PathUtils {
 
         return 15;
     }
+
+    public static LCCDirection getDirectionByArmDirection(short direction) {
+        return switch (direction) {
+            case 0 -> LCCDirection.RIGHT;
+            case 1 -> LCCDirection.DOWN;
+            case 2 -> LCCDirection.LEFT;
+            case 3 -> LCCDirection.UP;
+            default -> null;
+        };
+    }
 }

servo/src/main/java/com/galaxis/rcs/ptr/PosDirection.java

@@ -1,6 +1,8 @@
 package com.galaxis.rcs.ptr;
 
+import com.galaxis.rcs.common.enums.LCCDirection;
+
 public record PosDirection(int logicX,
                            int logicY,
-                           short direction) {
+                           LCCDirection direction) {
 }

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

@@ -1,13 +1,12 @@
 package com.galaxis.rcs.ptr;
 
-import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
-import com.yvan.event.AgvEventType;
 import com.galaxis.rcs.common.enums.LCCDirection;
 import com.galaxis.rcs.common.enums.PlanTaskStatus;
 import com.galaxis.rcs.common.enums.PlanTaskType;
 import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
 import com.galaxis.rcs.plan.PlanTaskSequence;
+import com.galaxis.rcs.plan.path.PathUtils;
 import com.galaxis.rcs.ptr.receiveEntity.AmrHeartbeatMessage;
 import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
 import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
@@ -15,25 +14,24 @@ import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
 import com.google.common.base.Joiner;
 import com.google.common.collect.Queues;
-import com.yvan.event.EventManager;
+import com.yvan.LccUtils;
+import com.yvan.event.AgvEventType;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.StaticItem;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
 import org.clever.core.BannerUtils;
-import org.clever.core.json.JsonWrapper;
 import org.clever.data.redis.Redis;
 import org.clever.data.redis.RedisAdmin;
 
 import java.util.*;
 import java.util.concurrent.BlockingQueue;
-import java.util.concurrent.CopyOnWriteArraySet;
 import java.util.concurrent.locks.LockSupport;
 
-//0.4m/ss // a  max 1.2m/s
-//90 = 3.5s cl2
-//90 = 5s // cLX
+/**
+ * 侧叉式AGV执行器
+ */
 @Slf4j
 public abstract class PtrAgvItem extends ExecutorItem {
     private static final int BLOCKING_QUEUE_CAPACITY = 100;
@@ -67,34 +65,28 @@ public abstract class PtrAgvItem extends ExecutorItem {
     public double orientation;
 
     // 任务模式
-    public AmrTaskMode taskMode;
+    private AmrTaskMode __taskMode;
 
-    private volatile boolean isManualMode = false;
     private volatile boolean isPaused = false;
     private volatile PosDirection lastPausedPosition;
     private volatile boolean isOnline = false;
 
     // 执行中的任务
-    @JsonIgnore
     public List<PtrAgvDeviceTask> runningDeviceTaskList = new ArrayList<>();
 
     /**
      * 当前执行的任务规划列表
      */
-    @JsonIgnore
     public volatile PlanTaskSequence planTaskSequence;
 
     /**
      * 当前执行的设备任务列表
      */
-    @JsonIgnore
     final BlockingQueue<PtrAgvDeviceTask> deviceTaskQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY);
 
-    @JsonIgnore
     final Cl2DeviceConnector cl2DeviceConnector = new Cl2DeviceConnector(this.runtime);
 
-    @JsonIgnore
-    public final AmrMessageHandler amrMessageHandler;
+    final AmrMessageHandler amrMessageHandler;
 
     /**
      * 连接器线程
@@ -107,23 +99,6 @@ public abstract class PtrAgvItem extends ExecutorItem {
         this.amrMessageHandler = logisticsRuntime.amrMessageHandler;
     }
 
-
-    @Override
-    public void stop() {
-        // 停止连接器线程
-        stopConnector();
-        // 清理任务序列
-        if (planTaskSequence != null) {
-            planTaskSequence = null;
-        }
-        // 清理设备任务队列
-        deviceTaskQueue.clear();
-        // 清理运行中的设备任务列表
-        runningDeviceTaskList.clear();
-        // 更新Redis状态
-        updateRedisStatus();
-    }
-
     @Override
     public boolean isRunning() {
         return connectorThread.isRunning();
@@ -131,11 +106,11 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
     public abstract RcsConfigMessage getConfig();
 
+
     @Override
     public void start() {
         this.amrMessageHandler.registeHeartBeatSet(this);
 
-
         // 查询当前状态
         requestCurrentStatus();
         this.isRunning = true;
@@ -143,9 +118,23 @@ public abstract class PtrAgvItem extends ExecutorItem {
         this.startConnector();
     }
 
-    public synchronized void shutdown() {
-        this.stopConnector();
+    @Override
+    public void stop() {
+        // 停止连接器线程
+        stopConnector();
+
         this.amrMessageHandler.unregisteHeartBeatSet(this);
+
+        // 清理任务序列
+        if (planTaskSequence != null) {
+            planTaskSequence = null;
+        }
+        // 清理设备任务队列
+        deviceTaskQueue.clear();
+        // 清理运行中的设备任务列表
+        runningDeviceTaskList.clear();
+        // 更新Redis状态
+        updateRedisStatus();
     }
 
     public synchronized void dispatchTask(PlanTaskSequence taskSequence) {
@@ -153,27 +142,19 @@ public abstract class PtrAgvItem extends ExecutorItem {
             throw new IllegalStateException("AGV is not free to accept new tasks");
         }
 
-        if (isManualMode) {
-            throw new IllegalStateException("AGV is in manual mode and cannot accept tasks");
-        }
-
         this.planTaskSequence = taskSequence;
         buildPlanToDeviceTask();
-        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_ACCEPT, this, taskSequence);
+        this.runtime.eventManager.firePlanTaskSequenceAcceptEvent(this, taskSequence);
         connectorThread.resumeProcessing();
     }
 
-    private void fireEvent(AgvEventType agvEventType, Object... args) {
-        this.runtime.eventManager.fireEvent(agvEventType, args);
-    }
-
     public synchronized void pauseTask() {
         if (planTaskSequence == null) {
             throw new IllegalStateException("No active task to pause");
         }
 
         isPaused = true;
-        lastPausedPosition = new PosDirection(logicX, logicY, direction);
+        lastPausedPosition = new PosDirection(logicX, logicY, PathUtils.getDirectionByArmDirection(direction));
 
         // 发送停止指令
         RcsSRMessage stopMsg = new RcsSRMessage(this.runtime);
@@ -188,7 +169,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
             log.error("Failed to send stop command to AGV {}", this.getId(), e);
         }
 
-        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_PAUSE, this);
+        this.runtime.eventManager.firePlanTaskSequencePauseEvent(this, planTaskSequence);
     }
 
     public synchronized void resumeTask() {
@@ -199,14 +180,14 @@ public abstract class PtrAgvItem extends ExecutorItem {
         // 检查当前位置是否与暂停位置一致
         if (Math.abs(logicX - lastPausedPosition.logicX()) > 1 ||
             Math.abs(logicY - lastPausedPosition.logicY()) > 1 ||
-            direction != lastPausedPosition.direction()) {
+            PathUtils.getDirectionByArmDirection(direction) != lastPausedPosition.direction()) {
             // 需要返回暂停位置
             throw new RuntimeException("AGV position has changed since pause, cannot resume task safely");
         }
 
         isPaused = false;
         connectorThread.resumeProcessing();
-        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_RESUME, this);
+        this.runtime.eventManager.firePlanTaskSequenceResumeEvent(this, planTaskSequence);
     }
 
     @SneakyThrows
@@ -221,7 +202,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
             deviceTaskQueue.clear();
         }
 
-        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_CANCEL, this);
+        this.runtime.eventManager.firePlanTaskSequenceCancelEvent(this, planTaskSequence);
     }
 
     @SneakyThrows
@@ -234,18 +215,6 @@ public abstract class PtrAgvItem extends ExecutorItem {
         amrMessageHandler.sendCmdSetLocation(this.getId(), setLoc);
     }
 
-    public void setControlMode(ControlMode mode) {
-        // 硬件控制模式设置逻辑
-        this.isManualMode = (mode == ControlMode.MANUAL);
-
-        if (mode != ControlMode.FULL_AUTO && planTaskSequence != null) {
-            cancelTask();
-        }
-
-        // 更新Redis状态
-        updateRedisStatus();
-    }
-
     @SneakyThrows
     public void requestCurrentStatus() {
         amrMessageHandler.sendCmdQueryStatus(this.getId());
@@ -265,9 +234,9 @@ public abstract class PtrAgvItem extends ExecutorItem {
         if (this.isPaused) {
             return false;
         }
-//        if (this.taskMode != AmrTaskMode.AMR_FREE_MODE) {
-//            return false;
-//        }
+        // if (this.taskMode != AmrTaskMode.AMR_FREE_MODE) {
+        //     return false;
+        // }
         return this.isOnline;
     }
 
@@ -278,9 +247,17 @@ public abstract class PtrAgvItem extends ExecutorItem {
         for (PtrAgvDeviceTask task : runningDeviceTaskList) {
             task.taskGroupStatus = taskStatus;
             if (taskStatus == 4) {
+
+                this.runtime.eventManager.fireDeviceTaskCompleteEvent(this, task);
+                task.taskStatus = 4;
+
                 // 更新计划任务
                 List<RcsTaskPlan> planTaskList = planTaskSequence.taskList.stream().filter(pt -> task.movePlanTaskId.equals(pt.getPlanTaskId()) || task.planTaskIdSet.contains(pt.getPlanTaskId())).toList();
                 for (RcsTaskPlan planTask : planTaskList) {
+                    if (PlanTaskStatus.FINISHED.toString().equals(planTask.getPlanTaskStatus())) {
+                        continue;
+                    }
+                    this.runtime.eventManager.firePlanTaskCompleteEvent(this, planTaskSequence, planTask);
                     planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
                     planTaskSequence.savePlanTask(planTask);
                 }
@@ -288,7 +265,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
         }
 
         if (planTaskSequence != null && planTaskSequence.isAllCompleted()) {
-            fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_COMPLETE, this);
+            this.runtime.eventManager.firePlanTaskSequenceCompleteEvent(this, planTaskSequence);
             this.runningDeviceTaskList.clear();
             planTaskSequence = null;
         }
@@ -304,18 +281,21 @@ public abstract class PtrAgvItem extends ExecutorItem {
         this.logicY = logicY;
         this.direction = direction;
 
+        LCCDirection oldLccDirection = PathUtils.getDirectionByArmDirection(oldDirection);
+        LCCDirection newLccDirection = PathUtils.getDirectionByArmDirection(direction);
+
         // 更新Redis
         updateRedisStatus();
 
         // 触发位置变化事件
         if (oldX != logicX || oldY != logicY) {
-            fireEvent(AgvEventType.POS_CHANGED, this,
-                new PosDirection(logicX, logicY, direction),
-                new PosDirection(oldX, oldY, oldDirection));
+            this.runtime.eventManager.firePosChangedEvent(this,
+                new PosDirection(logicX, logicY, newLccDirection),
+                new PosDirection(oldX, oldY, oldLccDirection));
         }
 
         if (oldDirection != direction) {
-            fireEvent(AgvEventType.DIRECTION_CHANGED, this, direction, oldDirection);
+            this.runtime.eventManager.fireDirectionChangedEvent(this, newLccDirection, oldLccDirection);
         }
 
         boolean needCompute = false;
@@ -340,19 +320,18 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 for (int i = 0; i <= finishTargetIndex; i++) {
                     PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
                     task.taskStatus = 4; // 标记为完成
-                    fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
+                    this.runtime.eventManager.fireDeviceTaskCompleteEvent(this, task);
 
                     // 更新计划任务
                     RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.movePlanTaskId);
                     if (planTask != null && !PlanTaskStatus.FINISHED.toString().equals(planTask.getPlanTaskStatus())) {
-                        fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, planTaskSequence, planTask);
                         planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
-                        planTaskSequence.savePlanTask(planTask);
+                        this.runtime.eventManager.firePlanTaskCompleteEvent(this, planTaskSequence, planTask);
                     }
                 }
 
                 if (planTaskSequence.isAllCompleted()) {
-                    fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_COMPLETE, this);
+                    this.runtime.eventManager.firePlanTaskSequenceCompleteEvent(this, planTaskSequence);
                     this.runningDeviceTaskList.clear();
                     planTaskSequence = null;
                 }
@@ -397,7 +376,14 @@ public abstract class PtrAgvItem extends ExecutorItem {
     }
 
     public void updateTaskMode(int taskMode) {
-        this.taskMode = AmrTaskMode.fromValue(taskMode);
+        this.setTaskMode(AmrTaskMode.fromValue(taskMode));
+    }
+
+    private void setTaskMode(AmrTaskMode taskMode) {
+        var originalMode = this.__taskMode;
+        this.__taskMode = taskMode;
+        this.runtime.eventManager.fireModeChangeEvent(this, taskMode, originalMode);
+        updateRedisStatus();
     }
 
     public void updateRedisStatus() {
@@ -411,11 +397,10 @@ public abstract class PtrAgvItem extends ExecutorItem {
         statusMap.put("direction", String.valueOf(direction));
         statusMap.put("orientation", String.valueOf(orientation));
         statusMap.put("soc", this.battery == null ? "-1" : String.valueOf(this.battery.SOC));
-        statusMap.put("mode", isManualMode ? "MANUAL" : "AUTO");
+        statusMap.put("mode", this.__taskMode.toString());
         statusMap.put("taskStatus", getTaskStatus());
 
         redis.hPutAll(statusKey, statusMap);
-        redis.kExpire(statusKey, 10); // 10秒过期
     }
 
     public void handleHeartbeat(AmrHeartbeatMessage heartbeat) {
@@ -433,7 +418,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
         // 检查低电量
         if (this.battery.SOC < 20) {
-            fireEvent(AgvEventType.LOW_BATTERY, this);
+            this.runtime.eventManager.fireLowBatteryEvent(this);
         }
 
         updateRedisStatus();
@@ -441,13 +426,13 @@ public abstract class PtrAgvItem extends ExecutorItem {
 
     public void handleOnlineEvent() {
         isOnline = true;
-        fireEvent(AgvEventType.ONLINE, this);
+        this.runtime.eventManager.fireOnlineEvent(this);
         requestCurrentStatus();
     }
 
     public void handleOfflineEvent() {
         isOnline = false;
-        fireEvent(AgvEventType.OFFLINE, this);
+        this.runtime.eventManager.fireOfflineEvent(this);
     }
 
     private String getTaskStatus() {
@@ -787,13 +772,12 @@ public abstract class PtrAgvItem extends ExecutorItem {
             }
         }
 
-
-//        planQueue.addAll(sequence.taskList);
         deviceTaskQueue.addAll(deviceTaskList);
     }
 
     public boolean isSamePosition(PosDirection startPos) {
-        return this.logicX == startPos.logicX() && this.logicY == startPos.logicY() && this.direction == startPos.direction();
+        return this.logicX == startPos.logicX() && this.logicY == startPos.logicY() &&
+            PathUtils.getDirectionByArmDirection(this.direction) == startPos.direction();
     }
 
     private static class CDirection {

servo/src/main/java/com/yvan/event/AgvEventManager.java

@@ -0,0 +1,104 @@
+package com.yvan.event;
+
+import com.galaxis.rcs.common.entity.RcsTaskPlan;
+import com.galaxis.rcs.common.enums.LCCDirection;
+import com.galaxis.rcs.plan.PlanTaskSequence;
+import com.galaxis.rcs.ptr.AmrTaskMode;
+import com.galaxis.rcs.ptr.PosDirection;
+import com.galaxis.rcs.ptr.PtrAgvDeviceTask;
+import com.yvan.logisticsModel.ExecutorItem;
+
+import java.util.Set;
+import java.util.concurrent.CopyOnWriteArraySet;
+
+public class AgvEventManager {
+
+    private final Set<AgvEventListener> eventListeners = new CopyOnWriteArraySet<>();
+
+    private void fireEvent(AgvEventType type, Object... args) {
+        for (AgvEventListener listener : eventListeners) {
+            listener.onEvent(type, args);
+        }
+    }
+
+    // 事件监听管理
+    public void subscribe(AgvEventListener listener) {
+        eventListeners.add(listener);
+    }
+
+    public void unsubscribe(AgvEventListener listener) {
+        eventListeners.remove(listener);
+    }
+
+    public void fireOfflineEvent(ExecutorItem sender) {
+        fireEvent(AgvEventType.OFFLINE, sender);
+    }
+
+    public void fireOnlineEvent(ExecutorItem sender) {
+        fireEvent(AgvEventType.ONLINE, sender);
+    }
+
+    public void fireBlockedEvent(ExecutorItem sender) {
+        fireEvent(AgvEventType.BLOCKED, sender);
+    }
+
+    public void fireBlockedRecoverEvent(ExecutorItem sender) {
+        fireEvent(AgvEventType.BLOCKED_RECOVER, sender);
+    }
+
+    public void fireFreeEvent(ExecutorItem sender) {
+        fireEvent(AgvEventType.FREE, sender);
+    }
+
+    public void firePlanTaskSequenceCompleteEvent(ExecutorItem sender, PlanTaskSequence taskSequence) {
+        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_COMPLETE, sender, taskSequence);
+    }
+
+    public void firePlanTaskCompleteEvent(ExecutorItem sender, PlanTaskSequence taskSequence, RcsTaskPlan taskPlan) {
+        fireEvent(AgvEventType.PLAN_TASK_COMPLETE, sender, taskSequence, taskPlan);
+    }
+
+    public void firePlanTaskExceptionEvent(ExecutorItem sender, PlanTaskSequence taskSequence, RcsTaskPlan taskPlan, Object exception) {
+        fireEvent(AgvEventType.PLAN_TASK_EXCEPTION, sender, taskSequence, exception);
+    }
+
+    public void firePlanTaskSequenceAcceptEvent(ExecutorItem sender, PlanTaskSequence taskSequence) {
+        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_ACCEPT, sender, taskSequence);
+    }
+
+    public void firePlanTaskSequenceCancelEvent(ExecutorItem sender, PlanTaskSequence taskSequence) {
+        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_CANCEL, sender, taskSequence);
+    }
+
+    public void firePlanTaskSequencePauseEvent(ExecutorItem sender, PlanTaskSequence taskSequence) {
+        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_PAUSE, sender, taskSequence);
+    }
+
+    public void firePlanTaskSequenceResumeEvent(ExecutorItem sender, PlanTaskSequence taskSequence) {
+        fireEvent(AgvEventType.PLAN_TASK_SEQUENCE_RESUME, sender, taskSequence);
+    }
+
+    public void fireDeviceTaskCompleteEvent(ExecutorItem sender, PtrAgvDeviceTask deviceTask) {
+        fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, sender, deviceTask);
+    }
+
+    public void fireDeviceTaskExceptionEvent(ExecutorItem sender, PtrAgvDeviceTask deviceTask, Object exception) {
+        fireEvent(AgvEventType.DEVICE_TASK_EXCEPTION, sender, deviceTask, exception);
+    }
+
+    public void firePosChangedEvent(ExecutorItem sender, PosDirection newPosDirection, PosDirection originPosDirection) {
+        fireEvent(AgvEventType.POS_CHANGED, sender, newPosDirection, originPosDirection);
+    }
+
+    public void fireDirectionChangedEvent(ExecutorItem sender, LCCDirection direction, LCCDirection originDirection) {
+        fireEvent(AgvEventType.DIRECTION_CHANGED, sender, direction, originDirection);
+    }
+
+    public void fireLowBatteryEvent(ExecutorItem sender) {
+        fireEvent(AgvEventType.LOW_BATTERY, sender);
+    }
+
+    public void fireModeChangeEvent(ExecutorItem sender, AmrTaskMode mode, AmrTaskMode originMode) {
+        fireEvent(AgvEventType.MODE_CHANGED, sender, mode, originMode);
+    }
+}

servo/src/main/java/com/yvan/event/AgvEventType.java

@@ -3,27 +3,32 @@ package com.yvan.event;
 public enum AgvEventType {
     /**
      * 设备离线
+     * (ExecutorItem sender)
      */
     OFFLINE,
     /**
      * 设备上线
+     * (ExecutorItem sender)
      */
     ONLINE,
     /**
      * 设备阻挡
+     * (ExecutorItem sender)
      */
     BLOCKED,
     /**
      * 设备阻挡恢复
+     * (ExecutorItem sender)
      */
     BLOCKED_RECOVER,
     /**
      * 设备空闲
+     * (ExecutorItem sender)
      */
     FREE,
     /**
      * 规划任务序列全部完成
-     * (ExecutorItem sender)
+     * (ExecutorItem sender, PlanTaskSequence taskSequence)
      */
     PLAN_TASK_SEQUENCE_COMPLETE,
     /**
@@ -33,6 +38,7 @@ public enum AgvEventType {
     PLAN_TASK_COMPLETE,
     /**
      * 规划任务异常
+     * (ExecutorItem sender, PlanTaskSequence taskSequence, RcsTaskPlan taskPlan, Object exception)
      */
     PLAN_TASK_EXCEPTION,
     /**
@@ -42,17 +48,17 @@ public enum AgvEventType {
     PLAN_TASK_SEQUENCE_ACCEPT,
     /**
      * 规划任务已取消
-     * (ExecutorItem sender)
+     * (ExecutorItem sender, PlanTaskSequence taskSequence)
      */
     PLAN_TASK_SEQUENCE_CANCEL,
     /**
      * 规划任务已暂停
-     * (ExecutorItem sender)
+     * (ExecutorItem sender, PlanTaskSequence taskSequence)
      */
     PLAN_TASK_SEQUENCE_PAUSE,
     /**
      * 规划任务已恢复
-     * (ExecutorItem sender)
+     * (ExecutorItem sender, PlanTaskSequence taskSequence)
      */
     PLAN_TASK_SEQUENCE_RESUME,
     /**
@@ -62,6 +68,7 @@ public enum AgvEventType {
     DEVICE_TASK_COMPLETE,
     /**
      * 设备任务异常
+     * (ExecutorItem sender, PtrAgvDeviceTask deviceTask, Object exception)
      */
     DEVICE_TASK_EXCEPTION,
     /**
@@ -71,7 +78,7 @@ public enum AgvEventType {
     POS_CHANGED,
     /**
      * 设备姿态改变
-     * (ExecutorItem sender, PosDirection newPosDirection, PosDirection originPosDirection)
+     * (ExecutorItem sender, LCCDirection direction, LCCDirection originDirection)
      */
     DIRECTION_CHANGED,
     /**
@@ -79,4 +86,10 @@ public enum AgvEventType {
      * (ExecutorItem sender)
      */
     LOW_BATTERY,
+
+    /**
+     * 设备模式改变
+     * (ExecutorItem sender, AmrTaskMode newMode, AmrTaskMode originMode)
+     */
+    MODE_CHANGED,
 }

servo/src/main/java/com/yvan/event/EventManager.java

@@ -1,24 +0,0 @@
-package com.yvan.event;
-
-import java.util.Set;
-import java.util.concurrent.CopyOnWriteArraySet;
-
-public class EventManager {
-
-    private final Set<AgvEventListener> eventListeners = new CopyOnWriteArraySet<>();
-
-    public void fireEvent(AgvEventType type, Object... args) {
-        for (AgvEventListener listener : eventListeners) {
-            listener.onEvent(type, args);
-        }
-    }
-
-    // 事件监听管理
-    public void subscribe(AgvEventListener listener) {
-        eventListeners.add(listener);
-    }
-
-    public void unsubscribe(AgvEventListener listener) {
-        eventListeners.remove(listener);
-    }
-}

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

@@ -10,7 +10,7 @@ import com.google.common.base.Joiner;
 import com.google.common.collect.Lists;
 import com.google.common.collect.Maps;
 import com.google.common.collect.Sets;
-import com.yvan.event.EventManager;
+import com.yvan.event.AgvEventManager;
 import com.yvan.mqtt.FrontendMessagePushService;
 import com.yvan.redis.LccRedisService;
 import com.yvan.workbench.model.entity.LccProject;
@@ -112,7 +112,7 @@ public class LogisticsRuntime {
 
     public final LccRedisService lccRedisService = new LccRedisService(this);
 
-    public final EventManager eventManager = new EventManager();
+    public final AgvEventManager eventManager = new AgvEventManager();
 
     public LogisticsRuntime(LccProject project, LccProjectEnv env, String serverId) {
         this.project = project;

servo/src/main/java/com/yvan/state/VariableMonitor.java

@@ -50,13 +50,13 @@ public class VariableMonitor<T> {
     public VariableMonitor(Supplier<T> provider, long intervalMillis) {
         this.provider = provider;
         this.intervalMillis = intervalMillis;
-        this.lastJson = JacksonMapper.getInstance().toJson(provider.get());
     }
 
     /**
      * 启动定时轮询任务
      */
-    public void start() {
+    public VariableMonitor<T> start() {
+        this.lastJson = JacksonMapper.getInstance().toJson(provider.get());
         future = scheduler.scheduleAtFixedRate(() -> {
             T currentValue = provider.get();
             String currentJson;
@@ -67,16 +67,18 @@ public class VariableMonitor<T> {
                 lastJson = currentJson;
             }
         }, 0, intervalMillis, TimeUnit.MILLISECONDS);
+        return this;
     }
 
     /**
      * 停止定时任务
      */
-    public void stop() {
+    public VariableMonitor<T> stop() {
         if (future != null) {
             future.cancel(false);
         }
         scheduler.shutdownNow();
+        return this;
     }
 
     /**
@@ -84,8 +86,9 @@ public class VariableMonitor<T> {
      *
      * @param listener 回调函数，接收新值作为参数
      */
-    public void addListener(Consumer<T> listener) {
+    public VariableMonitor<T> addListener(Consumer<T> listener) {
         listeners.add(listener);
+        return this;
     }
 
     /**
@@ -93,8 +96,9 @@ public class VariableMonitor<T> {
      *
      * @param listener 要移除的监听器
      */
-    public void removeListener(Consumer<T> listener) {
+    public VariableMonitor<T> removeListener(Consumer<T> listener) {
         listeners.remove(listener);
+        return this;
     }
 
     /**