From 8f770cff9d4513ed3423121b5b67e81c34642c43 Mon Sep 17 00:00:00 2001 From: luoyifan Date: Fri, 4 Jul 2025 16:02:13 +0800 Subject: [PATCH] =?UTF-8?q?Agv=20Event=20=E4=BD=93=E7=B3=BB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/com/galaxis/rcs/plan/path/PathUtils.java | 10 ++ .../java/com/galaxis/rcs/ptr/PosDirection.java | 4 +- .../main/java/com/galaxis/rcs/ptr/PtrAgvItem.java | 150 +++++++++------------ .../main/java/com/yvan/event/AgvEventManager.java | 104 ++++++++++++++ .../src/main/java/com/yvan/event/AgvEventType.java | 23 +++- .../src/main/java/com/yvan/event/EventManager.java | 24 ---- .../com/yvan/logisticsModel/LogisticsRuntime.java | 4 +- .../main/java/com/yvan/state/VariableMonitor.java | 14 +- 8 files changed, 213 insertions(+), 120 deletions(-) create mode 100644 servo/src/main/java/com/yvan/event/AgvEventManager.java delete mode 100644 servo/src/main/java/com/yvan/event/EventManager.java diff --git a/servo/src/main/java/com/galaxis/rcs/plan/path/PathUtils.java b/servo/src/main/java/com/galaxis/rcs/plan/path/PathUtils.java index 4acf777..3ced80e 100644 --- a/servo/src/main/java/com/galaxis/rcs/plan/path/PathUtils.java +++ b/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; + }; + } } diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PosDirection.java b/servo/src/main/java/com/galaxis/rcs/ptr/PosDirection.java index ee37ad9..705d9b2 100644 --- a/servo/src/main/java/com/galaxis/rcs/ptr/PosDirection.java +++ b/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) { } diff --git a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java b/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java index e53af26..6c4fc80 100644 --- a/servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java +++ b/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 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 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 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 { diff --git a/servo/src/main/java/com/yvan/event/AgvEventManager.java b/servo/src/main/java/com/yvan/event/AgvEventManager.java new file mode 100644 index 0000000..9e78eff --- /dev/null +++ b/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 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); + } +} diff --git a/servo/src/main/java/com/yvan/event/AgvEventType.java b/servo/src/main/java/com/yvan/event/AgvEventType.java index 579517d..220de03 100644 --- a/servo/src/main/java/com/yvan/event/AgvEventType.java +++ b/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, } diff --git a/servo/src/main/java/com/yvan/event/EventManager.java b/servo/src/main/java/com/yvan/event/EventManager.java deleted file mode 100644 index 7fb5ec6..0000000 --- a/servo/src/main/java/com/yvan/event/EventManager.java +++ /dev/null @@ -1,24 +0,0 @@ -package com.yvan.event; - -import java.util.Set; -import java.util.concurrent.CopyOnWriteArraySet; - -public class EventManager { - - private final Set 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); - } -} diff --git a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java b/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java index 076b5e0..432f76e 100644 --- a/servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java +++ b/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; diff --git a/servo/src/main/java/com/yvan/state/VariableMonitor.java b/servo/src/main/java/com/yvan/state/VariableMonitor.java index eb5bd3c..0c12561 100644 --- a/servo/src/main/java/com/yvan/state/VariableMonitor.java +++ b/servo/src/main/java/com/yvan/state/VariableMonitor.java @@ -50,13 +50,13 @@ public class VariableMonitor { public VariableMonitor(Supplier 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 start() { + this.lastJson = JacksonMapper.getInstance().toJson(provider.get()); future = scheduler.scheduleAtFixedRate(() -> { T currentValue = provider.get(); String currentJson; @@ -67,16 +67,18 @@ public class VariableMonitor { lastJson = currentJson; } }, 0, intervalMillis, TimeUnit.MILLISECONDS); + return this; } /** * 停止定时任务 */ - public void stop() { + public VariableMonitor stop() { if (future != null) { future.cancel(false); } scheduler.shutdownNow(); + return this; } /** @@ -84,8 +86,9 @@ public class VariableMonitor { * * @param listener 回调函数，接收新值作为参数 */ - public void addListener(Consumer listener) { + public VariableMonitor addListener(Consumer listener) { listeners.add(listener); + return this; } /** @@ -93,8 +96,9 @@ public class VariableMonitor { * * @param listener 要移除的监听器 */ - public void removeListener(Consumer listener) { + public VariableMonitor removeListener(Consumer listener) { listeners.remove(listener); + return this; } /**