10 changed files with 259 additions and 275 deletions
@ -1,49 +0,0 @@ |
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package com.galaxis.rcs.communication.amrCommunication; |
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import lombok.AllArgsConstructor; |
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import lombok.Data; |
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@Data |
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@AllArgsConstructor |
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public class AmrStatusAndInfo { |
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// agvId 车唯一标识
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public String agvId; |
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// agv名称
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public String agvName; |
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// agv类型
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public String agvType; |
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// agv型号
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public String agvModel; |
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// AMR功能型号
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public String agvFnModel; |
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// agv电量
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public double agvSOC; |
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// agv电池电压
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public double agvBatteryVoltage; |
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// agv充电状态
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public boolean agvChargingStatus; |
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// agv充电电流
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public double agvChargingCurrent; |
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// agv放电电流
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public double agvDischargingCurrent; |
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// agv电池温度
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public double agvBatteryTemperature; |
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// agv当前x坐标
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public double x; |
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// agv当前y坐标
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public double y; |
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// agv当前z坐标
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public double z; |
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// 当前所在站点的逻辑X坐标 Int32
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public int logicX; |
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// 当前所在站点的逻辑Y坐标 Int32
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public int logicY; |
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// 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
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public short direction; |
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// agv当前转动角度值
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public double orientation; |
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public AmrStatusAndInfo(String agvId) { |
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this.agvId = agvId; |
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} |
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} |
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@ -0,0 +1,110 @@ |
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package com.yvan.logisticsModel; |
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import com.galaxis.rcs.common.entity.RcsTaskPlan; |
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import com.galaxis.rcs.plan.PlanTaskSequence; |
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import com.google.common.collect.Queues; |
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import java.util.Map; |
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import java.util.concurrent.BlockingQueue; |
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public class PtrAgvItem extends ExecutorItem { |
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private final int BLOCKING_QUEUE_CAPACITY = 100; |
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// ip
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public String ip; |
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// agv名称
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public String agvName; |
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// agv类型
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public String agvType; |
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// agv型号
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public String agvModel; |
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// AMR功能型号
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public String agvFnModel; |
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// agv电量
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public double agvSOC; |
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// agv电池电压
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public double agvBatteryVoltage; |
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// agv充电状态
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public boolean agvChargingStatus; |
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// agv充电电流
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public double agvChargingCurrent; |
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// agv放电电流
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public double agvDischargingCurrent; |
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// agv电池温度
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public double agvBatteryTemperature; |
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// agv当前x坐标
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public double x; |
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// agv当前y坐标
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public double y; |
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// agv当前z坐标
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public double z; |
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// 当前所在站点的逻辑X坐标 Int32
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public int logicX; |
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// 当前所在站点的逻辑Y坐标 Int32
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public int logicY; |
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// 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
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public short direction; |
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// agv当前转动角度值
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public double orientation; |
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/** |
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* 当前执行的任务规划列表 |
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*/ |
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final BlockingQueue<RcsTaskPlan> planQueue = Queues.newArrayBlockingQueue(BLOCKING_QUEUE_CAPACITY); |
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/** |
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* 连接器线程 |
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*/ |
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private final PtrAgvConnectorThread connectorThread; |
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/** |
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* 启动连接器线程 |
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*/ |
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public void startConnector() { |
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if (!connectorThread.isRunning()) { |
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connectorThread.start(); |
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System.out.println("Connector started for executor: " + this.getId()); |
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} |
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} |
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/** |
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* 停止连接器线程 |
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*/ |
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public void stopConnector() { |
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connectorThread.stop(); |
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System.out.println("Connector stopped for executor: " + this.getId()); |
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} |
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/** |
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* 添加任务序列到当前执行器 |
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*/ |
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public void appendSequence(PlanTaskSequence sequence) { |
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if (sequence == null || sequence.taskList.isEmpty()) { |
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return; |
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} |
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// 检查 planList 是不是全都是我的任务
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for (RcsTaskPlan plan : sequence.taskList) { |
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if (!plan.getExecutorId().equals(this.getId())) { |
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throw new RuntimeException("plan not belong executor:" + this.getId() + ", " + plan.getExecutorId()); |
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} |
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} |
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LogisticsRuntime runtime = sequence.logisticsRuntime; |
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planQueue.addAll(sequence.taskList); |
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// TODO: 开启轮询线程，等待下一个待执行任务
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} |
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public boolean isFree() { |
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return (this.planQueue.isEmpty() && this.connectorThread.isRunning()); |
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} |
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public PtrAgvItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) { |
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super(logisticsRuntime, raw); |
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this.connectorThread = new PtrAgvConnectorThread(this, logisticsRuntime); |
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} |
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} |
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