fm600 动画

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

@@ -4,6 +4,7 @@ import com.galaxis.rcs.common.entity.AddTaskRequest;
 import com.galaxis.rcs.common.entity.AddTaskResult;
 import com.galaxis.rcs.common.enums.LCCDirection;
 import com.galaxis.rcs.connector.amr.cl2.Cl2Item;
+import com.galaxis.rcs.connector.amr.fm600.Fm600Item;
 import com.galaxis.rcs.plan.path.PathUtils;
 import com.google.common.base.Strings;
 import com.yvan.logisticsModel.LogisticsRuntime;
@@ -157,6 +158,9 @@ public class RCSService {
             switch (jwPayload.asStr("t")) {
                 case "cl2":
                 case "clx":
+                case "cs1":
+                case "cc5":
+                case "cl3": {
                     // 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
                     var eitem = new Cl2Item(runtime, (Map<String, Object>) jwPayload.getInnerMap());
@@ -173,6 +177,26 @@ public class RCSService {
                     }
                     runtime.executorItemMap.put(eitem.getId(), eitem);
                     break;
+                }
+
+                case "fm600": {
+                    // 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
+                    var fm600Itemitem = new Fm600Item(runtime, (Map<String, Object>) jwPayload.getInnerMap());
+
+                    // 找到地标位置
+                    StaticItem staticItem = runtime.getStaticItemById(wayPointId);
+                    if (staticItem != null) {
+                        fm600Itemitem.logicX = staticItem.logicX;
+                        fm600Itemitem.logicY = staticItem.logicY;
+                        fm600Itemitem.direction = PathUtils.convertDirectionToPtrDiretion(LCCDirection.fromString(direction));
+
+                    } else {
+                        log.warn("Static item not found for wayPointId: {}", wayPointId);
+                    }
+                    runtime.executorItemMap.put(fm600Itemitem.getId(), fm600Itemitem);
+                    break;
+                }
 
                 default:
                     log.warn("Unknown executor type: {}", jwPayload.asStr("t"));

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

@@ -102,7 +102,7 @@ public class AmrMessageHandler {
         int id = jw.asInt("id");
         String agvId = jw.asInt("content", "VehicleId") + "";
         int seqNo = jw.asInt("content", "SeqNo");
-        PtrAgvItem agvItem = getPtrAgvItem(agvId);
+        AmrAgvItem agvItem = getPtrAgvItem(agvId);
         if (agvItem == null) {
             return;
         }
@@ -199,9 +199,9 @@ public class AmrMessageHandler {
         }
     }
 
-    public PtrAgvItem getPtrAgvItem(String vehicleId) {
+    public AmrAgvItem getPtrAgvItem(String vehicleId) {
         var executorItem = runtime.executorItemMap.get(vehicleId);
-        return (PtrAgvItem) executorItem;
+        return (AmrAgvItem) executorItem;
     }
 
     @SneakyThrows
@@ -416,7 +416,7 @@ public class AmrMessageHandler {
     private final Map<String, Long> lastMessageTimeMap = Maps.newConcurrentMap();
     private final ScheduledExecutorService delayCalculator = Executors.newScheduledThreadPool(4);
 
-    private void handleHeartbeatMessage(PtrAgvItem agvItem, AmrHeartbeatMessage message) {
+    private void handleHeartbeatMessage(AmrAgvItem agvItem, AmrHeartbeatMessage message) {
         agvItem.handleHeartbeat(message);
 
         // 计算延迟
@@ -425,19 +425,19 @@ public class AmrMessageHandler {
         updateRedisNetDelay(agvItem.getId(), netDelay);
     }
 
-    private void handleAmrOnlineMessage(PtrAgvItem agvItem, AmrOnlineMessage message) {
+    private void handleAmrOnlineMessage(AmrAgvItem agvItem, AmrOnlineMessage message) {
         agvItem.handleOnlineEvent();
     }
 
-    private void handleAmrOfflineMessage(PtrAgvItem agvItem, AmrOfflineMessage message) {
+    private void handleAmrOfflineMessage(AmrAgvItem agvItem, AmrOfflineMessage message) {
         agvItem.handleOfflineEvent();
     }
 
-    private void handleTaskCompletedMessage(PtrAgvItem agvItem, AmrTaskCompletedMessage message) {
+    private void handleTaskCompletedMessage(AmrAgvItem agvItem, AmrTaskCompletedMessage message) {
         agvItem.taskCompleted(message.CurX, message.CurY, message.CurDirection, 4);
     }
 
-    private void handleLandmarkMessage(PtrAgvItem agvItem, AmrLandmarkMessage message) {
+    private void handleLandmarkMessage(AmrAgvItem agvItem, AmrLandmarkMessage message) {
         // 这是源逻辑，CurLogicX / CurLogicY / CurDirection 需要到 PtrAgvItem 中更新, 因为要触发事件
         agvItem.x = message.X;
         agvItem.y = message.Y;
@@ -446,7 +446,7 @@ public class AmrMessageHandler {
         agvItem.updatePosition(message.CurLogicX, message.CurLogicY, message.CurDirection);
     }
 
-    private void handleStatusMessage(PtrAgvItem agvItem, AmrStatusMessage message) {
+    private void handleStatusMessage(AmrAgvItem agvItem, AmrStatusMessage message) {
         // 更新位置. TODO 貌似不包含 direction 信息
         agvItem.updatePosition(message.CurLogicX, message.CurLogicY, agvItem.direction);
 
@@ -463,7 +463,7 @@ public class AmrMessageHandler {
         agvItem.updateRedisStatus();
     }
 
-    private void handleTaskStatusMessage(PtrAgvItem agvItem, JsonWrapper jw, String json) throws MqttException, JsonProcessingException {
+    private void handleTaskStatusMessage(AmrAgvItem agvItem, JsonWrapper jw, String json) throws MqttException, JsonProcessingException {
 
         int EventId = jw.asInt("content", "EventId");
         // log.info("1-Received message: " + json);

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

@@ -331,16 +331,16 @@ public class LogisticsRuntime {
                 case "cl2":
                 case "cl3":
                 case "clx":
+                case "cc5":
                 case "cs1":
                     item = new Cl2Item(this, itemObject);
                     this.executorItemMap.put(item.getId(), (ExecutorItem) item);
                     break;
+
                 case "fm600":
                     item = new Fm600Item(this, itemObject);
                     this.executorItemMap.put(item.getId(), (ExecutorItem) item);
                     break;
-                case "cc5":
-                    break;
             }
         }
 

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

@@ -1,5 +1,6 @@
 package com.yvan.workbench.controller;
 
+import com.galaxis.rcs.amr.AmrAgvItem;
 import com.galaxis.rcs.common.enums.LCCDirection;
 import com.galaxis.rcs.amr.PtrAgvItem;
 import com.google.common.base.Strings;
@@ -84,7 +85,7 @@ public class LccController {
             for (var executor : runtime.executorItemMap.values()) {
                 for (var agv : agvStatusList) {
                     if (agv.getId().equals(executor.getId())) {
-                        agv.copyFromExceptVirtual(((PtrAgvItem) executor).getState());
+                        agv.copyFromExceptVirtual(((AmrAgvItem) executor).getState());
                         break;
                     }
                 }

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

@@ -1,5 +1,6 @@
 package com.yvan.workbench.controller;
 
+import com.galaxis.rcs.amr.AmrAgvItem;
 import com.galaxis.rcs.common.entity.LccBasLocation;
 import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.StoreLocation;
@@ -8,7 +9,6 @@ import com.galaxis.rcs.common.enums.BizTaskType;
 import com.galaxis.rcs.common.enums.LCCDirection;
 import com.galaxis.rcs.plan.PlanTaskSequence;
 import com.galaxis.rcs.plan.task.*;
-import com.galaxis.rcs.amr.PtrAgvItem;
 import com.google.common.base.Strings;
 import com.google.common.collect.Maps;
 import com.yvan.entity.BasLocationVo;
@@ -139,8 +139,8 @@ public class RcsController {
         if (executorItem == null) {
             return R.fail("executor not found: " + agvId);
         }
-        if (!(executorItem instanceof PtrAgvItem)) {
+        if (!(executorItem instanceof AmrAgvItem)) {
-            return R.fail("executor is not a PtrAgvItem id=" + agvId);
+            return R.fail("executor is not a AmrAgvItem id=" + agvId);
         }
 
         return R.success(executorItem);
@@ -433,8 +433,8 @@ public class RcsController {
         if (executorItem == null) {
             return R.fail("executor not found: " + agvId);
         }
-        if (!(executorItem instanceof PtrAgvItem agv)) {
+        if (!(executorItem instanceof AmrAgvItem agv)) {
-            return R.fail("executor is not a PtrAgvItem id=" + agvId);
+            return R.fail("executor is not a AmrAgvItem id=" + agvId);
         }
 
         // 获取机器人当前所在位置, 也可以前端强制指定
@@ -457,10 +457,10 @@ public class RcsController {
         }
 
         if (fromItem == null) {
-            return R.fail("PtrAgvItem not found at current location: " + agv.logicX + "_" + agv.logicY + ", id=" + agvId);
+            return R.fail("AmrAgvItem not found at current location: " + agv.logicX + "_" + agv.logicY + ", id=" + agvId);
         }
         if (fromDirection == null) {
-            return R.fail("PtrAgvItem unkown direction id=" + agvId);
+            return R.fail("AmrAgvItem unkown direction id=" + agvId);
         }
 
         RcsTaskBiz bizTask = new RcsTaskBiz();
@@ -487,7 +487,7 @@ public class RcsController {
         Map<String, Object> option,
         RcsTaskBiz bizTask,
         LogisticsRuntime runtime,
-        PtrAgvItem agv,
+        AmrAgvItem agv,
         PlanTaskSequence planSequence,
         StaticItem fromItem,
         LCCDirection fromDirection) {