It realizes valid and dynamic route finding in openTCS 5.0.0.
有几位网友关于拙作《改造OpenTCS之如何避免无效路由of基于OpenTCS的二次开发实践》、《改造OpenTCS之动态更新路由of基于OpenTCS的二次开发实践》留了言，笔者以本文、已上传到github的项目openTCS-5.0.0-ValidDynamicRoute，以及视频《有效路由的动态生成与更新体验》作为回应.
笔者的相关开发在以下环境中进行.
{
\"OS\":\"Ubuntu 20.04.2\",
\"IDE\":\"Apache Netbeans IDE 12.0\",
\"JdkVersion\":\"Java 11.0.10\",
\"openTCSVersion\":\"5.0.0\",
\"CurlVersion\":\"7.68.0\"
}
(1)修改的源代码文件(Modified source code files)
/openTCS-API-Base
/src/main/java/org/opentcs
/access/rmi/services/RemoteDispatcherService.java (16)
/access/rmi/services/RemoteDispatcherServiceProxy.java (18)
/components/kernel/services/DispatcherService.java (15)
/components/kernel/Dispatcher.java (12)
/openTCS-Kernel/src/main/java/org/opentcs/kernel
/distribution/config/opentcs-kernel-defaults-baseline.properties (03)
/services/StandardDispatcherService.java (17)
/vehicles/DefaultVehicleController.java (14)
/openTCS-Kernel-Extension-RMI-Services/src/main/java/org/opentcs/kernel
/extensions/rmi/StandardRemoteDispatcherService.java (19)
/openTCS-Strategies-Default/src
/main/java/org/opentcs/strategies/basic
/dispatching/DefaultDispatcherConfiguration.java (02)
/dispatching/DefaultDispatcher.java (13)
/routing/jgrapht/AbstractPointRouterFactory.java (09)
/routing/jgrapht/ShortestPathPointRouter.java (10)
/routing/jgrapht/DefaultModelGraphMapper.java (11)
/routing/DefaultRouter.java (07)
/routing/PointRouterFactory.java (08)
(2)用于测试的文件(Files used for testing)
/data
/script/1-tn-demo-lb-1234-sil.sh (04)
/script/2-tn-demo-lb-1234-create-to-part1.sh (05)
/script/4-tn-demo-lb-1234-create-to-nv-part1.sh
/script/6-tn-demo-lb-1234-create-to-part1.sh
/script/8-tn-demo-lb-1234-create-to-nv-part1.sh
/script/3-tn-demo-lb-1234-create-to-part2.sh (06)
/script/5-tn-demo-lb-1234-create-to-nv-part2.sh
/script/7-tn-demo-lb-1234-create-to-nv-part2.sh
/script/9-tn-demo-lb-1234-create-to-part2.sh
/tn/tn-demo-lb-1234.xml (01)
注：加载tn-demo-lb-1234.xml、持久化到内核并进入操作模式后，可以执行分四种情形测试：
始终预订车辆：
./2-tn-demo-lb-1234-create-to-part1.sh
./3-tn-demo-lb-1234-create-to-part2.sh
始终不预订车辆：
./4-tn-demo-lb-1234-create-to-nv-part1.sh
./5-tn-demo-lb-1234-create-to-nv-part2.sh
先预订车辆后不预订车辆：
./6-tn-demo-lb-1234-create-to-part1.sh
./7-tn-demo-lb-1234-create-to-nv-part2.sh
先不预订车辆后预订车辆：
./8-tn-demo-lb-1234-create-to-nv-part1.sh
./9-tn-demo-lb-1234-create-to-part2.sh
以下对相关文件逐一描述.
这是测试用的交通运输网模型文件，其改编自openTCS官方自带的0.0.3版的Demo-01.xml；其中，车4辆、进货位3个、出货位2个、储货位2个、工作站3个、充电兼泊车位4个.
以下是对车辆Ve0001的主要描述:
<vehicle name="Ve0001"
length="1000"
energyLevelCritical="30"
energyLevelGood="90"
energyLevelFullyRecharged="95"
energyLevelSufficientlyRecharged="45"
maxVelocity="1000" maxReverseVelocity="1000">
<property name="ip" value="127.0.0.1"/>
<property name="loopback:initialPosition" value="2"/>
<property name="loopback:loadOperation" value="Load cargo"/>
<property name="loopback:unloadOperation" value="Unload cargo"/>
<property name="port" value="50200"/>
<property name="tcs:assignedParkingPosition" value="2"/>
<property name="tcs:preferredAdapterClass" value=
"org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"/>
<property name="tcs:preferredParkingPosition" value="2"/>
<property name="tcs:preferredRechargePosition" value="Re01"/>
</vehicle>
派发器配置中, 为重新寻路触发器加入相关配置项.
@ConfigurationEntry(
type = "String",
description = {
/*...*/
"TOPOLOGY_CHANGE: Vehicles get rerouted immediately
on topology changes."
/// --------------------------------------------------------------------
, "ROUTE_STEP_FINISHED: Each relevant vehicle get rerouted as soon as
the arrival of the destination of a route step."
/// --------------------------------------------------------------------
},
orderKey = "1_orders_special_2")
RerouteTrigger rerouteTrigger();
/*...*/
enum RerouteTrigger {
/*...*/
TOPOLOGY_CHANGE
/// ------------------------------------------------------------------------
, ROUTE_STEP_FINISHED
/// ------------------------------------------------------------------------
;
}
为方便测试, 修改配置文件.
#kernelapp.autoEnableDriversOnStartup = false
kernelapp.autoEnableDriversOnStartup = true
####
#kernelapp.updateRoutingTopologyOnPathLockChange = false
kernelapp.updateRoutingTopologyOnPathLockChange = true
####
#defaultdispatcher.rerouteTrigger = NONE
defaultdispatcher.rerouteTrigger = ROUTE_STEP_FINISHED
####
#defaultrouter.routeToCurrentPosition = false
defaultrouter.routeToCurrentPosition = true
####
#virtualvehicle.simulationTimeFactor = 1.0
virtualvehicle.simulationTimeFactor = 4.0
####
该批处理调用curl, 将对应车辆的集成级别设置为使用.
#!/bin/sh
curl -X PUT "http://localhost:55200/v1/vehicles/Ve0001/integrationLevel
?newValue=TO_BE_UTILIZED" -H "accept: */*"
curl -X PUT "http://localhost:55200/v1/vehicles/Ve0002/integrationLevel
?newValue=TO_BE_UTILIZED" -H "accept: */*"
curl -X PUT "http://localhost:55200/v1/vehicles/Ve0003/integrationLevel
?newValue=TO_BE_UTILIZED" -H "accept: */*"
curl -X PUT "http://localhost:55200/v1/vehicles/Ve0004/integrationLevel
?newValue=TO_BE_UTILIZED" -H "accept: */*"
该批处理调用curl, 生成几个运单, 其分别预订一辆指定的车.
#!/bin/sh
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD901"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0001\",
\"destinations\":[{\"locationName\":\"GiN01\",\"operation\":\"Load cargo\"}]}"
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD902"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0002\",
\"destinations\":[{\"locationName\":\"GiN02\",\"operation\":\"Load cargo\"}]}"
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD903"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0003\",
\"destinations\":[{\"locationName\":\"GiS01\",\"operation\":\"Load cargo\"}]}"
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD904"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0004\",
\"destinations\":[{\"locationName\":\"St01\",\"operation\":\"Load cargo\"}]}"
以下三个文件中运单号不同, 且:
6-tn-demo-lb-1234-create-to-part1.sh, 与之类似;
4-tn-demo-lb-1234-create-to-nv-part1.sh, 与之类似但未预订车辆;
8-tn-demo-lb-1234-create-to-nv-part1.sh, 与之类似但未预订车辆.
该批处理调用curl, 生成配合(05)的几个运单.
#!/bin/sh
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD905"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0001\",
\"destinations\":[{\"locationName\":\"St01\",\"operation\":\"Unload cargo\"},
{\"locationName\":\"Re01\",\"operation\":\"CHARGE\"}]}"
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD906"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0002\",
\"destinations\":[{\"locationName\":\"St02\",\"operation\":\"Unload cargo\"},
{\"locationName\":\"Re02\",\"operation\":\"CHARGE\"}]}"
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD907"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0003\",
\"destinations\":[{\"locationName\":\"St01\",\"operation\":\"Unload cargo\"},
{\"locationName\":\"Re03\",\"operation\":\"CHARGE\"}]}"
curl -X POST
"http://localhost:55200/v1/transportOrders/TOrder-04E8RBM7CAFREKRFRCEYGD908"
-H "accept: */*" -H "Content-Type: application/json"
-d "{\"deadline\":\"2019-09-19T16:42:40.396Z\",\"intendedVehicle\":\"Ve0004\",
\"destinations\":[{\"locationName\":\"St02\",\"operation\":\"Unload cargo\"},
{\"locationName\":\"Re04\",\"operation\":\"CHARGE\"}]}"
以下三个文件中运单号不同, 且:
9-tn-demo-lb-1234-create-to-part2.sh, 与之类似;
5-tn-demo-lb-1234-create-to-nv-part2.sh, 与之类似但未预订车辆;
7-tn-demo-lb-1234-create-to-nv-part2.sh, 与之类似但未预订车辆.
1)修改了以下2个方法.
@Override
public Optional<List<DriveOrder>> getRoute(
Vehicle vehicle, Point sourcePoint, TransportOrder transportOrder) {
/*...*/
try {
/// --------------------------------------------------------------------
/// new:
PointRouter pointRouter = getActualPointRouter(
sourcePoint,
vehicle
);
/// --------------------------------------------------------------------
rwLock.readLock().lock();
List<DriveOrder> driveOrderList = transportOrder.getFutureDriveOrders();
DriveOrder[] driveOrders = driveOrderList.toArray(
new DriveOrder[driveOrderList.size()]);
/// --------------------------------------------------------------------
/// original:
//PointRouter pointRouter = pointRoutersByVehicleGroup.get(
// getRoutingGroupOfVehicle(vehicle));
/// --------------------------------------------------------------------
OrderRouteParameterStruct params = new OrderRouteParameterStruct(
driveOrders, pointRouter);
/*...*/
}
@Override
public Optional<Route> getRoute(
Vehicle vehicle, Point sourcePoint, Point destinationPoint) {
/*...*/
try {
rwLock.readLock().lock();
/// --------------------------------------------------------------------
/// original:
//PointRouter pointRouter = pointRoutersByVehicleGroup.get(
// getRoutingGroupOfVehicle(vehicle));
/// --------------------------------------------------------------------
/// new:
PointRouter pointRouter = getActualPointRouter(sourcePoint, vehicle);
/// --------------------------------------------------------------------
long costs = pointRouter.getCosts(sourcePoint, destinationPoint);
/*...*/
}
2)新增以下2个方法.
/// ------------------------------------------------------------------------
private Collection<Point> getUnusablePoints(
Point sourcePoint, Vehicle vehicle) {
Collection<Point> unusablePoints = new HashSet<>();
Set<Vehicle> allVehicles = objectService.fetchObjects(Vehicle.class);
Set<Vehicle> occupyUnusablePointsVehicles1 = new HashSet<>();
Set<Vehicle> occupyUnusablePointsVehicles2 = new HashSet<>();
for (Vehicle ve : allVehicles) {
/// Skip the given vehicle
if (ve.getName() == vehicle.getName()) {continue;}
if (ve.getCurrentPosition() == null) {continue;}
/// For idle vehicle
if (ve.hasState(Vehicle.State.IDLE)) {
occupyUnusablePointsVehicles1.add(ve);
continue;
}
/// For vehicle processing order
if (ve.hasProcState(Vehicle.ProcState.PROCESSING_ORDER)) {
boolean willAdd = true;
for (TransportOrder to: objectService
.fetchObjects(TransportOrder.class)) {
/// The vehicle is intended for TOrder
if ((to.hasState(TransportOrder.State.ACTIVE)
|| to.hasState(TransportOrder.State.DISPATCHABLE))
&& to.getIntendedVehicle().getName() == ve.getName()) {
willAdd = false;
break;
}
}
if (willAdd) {occupyUnusablePointsVehicles2.add(ve);}
}
}
//Get all idle vehicle's CurrentPosition
for (Vehicle ve : occupyUnusablePointsVehicles1) {
for (Point curPoint : objectService.fetchObjects(Point.class)) {
/// Skip the source point
if (curPoint.getName().equals(ve.getCurrentPosition().getName())
&& !sourcePoint.getName().equals(
ve.getCurrentPosition().getName())) {
unusablePoints.add(curPoint);
break;
}
}
}
/// Get each vehicle which is processing TO and no subsequent TO for it,
/// the destination is a dead point.
for (Vehicle ve : occupyUnusablePointsVehicles2) {
TransportOrder to = objectService.fetchObject(
TransportOrder.class, ve.getTransportOrder().getName());
List<DriveOrder> dos = to.getAllDriveOrders();
Point destinationPoint
= dos.get(dos.size() - 1).getRoute().getFinalDestinationPoint();
/// 若车辆vehicle的当前位置是车辆ve尚未走完的路段的端点之一,
/// 则ve的终点并非真的不可用
String vehiclePositionName = vehicle.getCurrentPosition().getName();
boolean foundPN = false;
boolean will_skip = false;
/// 对于车辆ve,构造出其尚未走完的路段的终点的集合
Set<String> namesOfPointToTravel = new HashSet<>();
String positionName = ve.getCurrentPosition().getName();
if (positionName.equals(dos.get(0).getRoute().getSteps().get(0)
.getSourcePoint().getName())) {
foundPN = true;
}
for (DriveOrder do_: dos) {
List<Route.Step> steps = do_.getRoute().getSteps();
for (Route.Step step: steps) {
String pointName = step.getDestinationPoint().getName();
if (!foundPN && positionName.equals(pointName)) {
foundPN = true;
continue;
}
if (foundPN) {namesOfPointToTravel.add(pointName);}
}
}
/// 车辆vehicle的当前位置先于ve到达二者的公共路段
for (String name: namesOfPointToTravel) {
if (vehiclePositionName.equals(name)) {
will_skip = true;
break;
}
}
if (will_skip) {continue;}
for (Point curPoint : objectService.fetchObjects(Point.class)) {
/// Skip the source point
if (curPoint.getName().equals(destinationPoint.getName())
&& !sourcePoint.getName().equals(
ve.getCurrentPosition().getName())) {
unusablePoints.add(curPoint);
break;
}
}
}
/// Skip the source point
if (unusablePoints.contains(sourcePoint)) {
unusablePoints.remove(sourcePoint);
}
return unusablePoints;
}
private PointRouter getActualPointRouter(
Point sourcePoint,
Vehicle vehicle)
{
Collection<Point> unusablePoints
= getUnusablePoints(sourcePoint, vehicle);
return pointRouterFactory.createPointRouter(vehicle, unusablePoints);
}
/// ------------------------------------------------------------------------
需要:
import java.util.Collection;
1)声明接口.
/// ------------------------------------------------------------------------
/// Creates a point router for the given vehicle
/// and excludes the unusablePoints.
/// added by Catching Xu with email of a0soft@163.com.
/// @param vehicle The vehicle.
/// @param unusablePoints The unusable points.
/// @return The point router.
PointRouter createPointRouter(
Vehicle vehicle,
Collection<Point> unusablePoints
);
/// ------------------------------------------------------------------------
需要:
import java.util.Collection;
import org.opentcs.data.model.Point;
注：removeUnusablePoints，这个《改造OpenTCS之如何避免无效路由of基于OpenTCS的二次开发实践》一文中提及的方法，已不再需要，其逻辑应在该接口的实现中体现即可.
1)修改方法.
@Override
public PointRouter createPointRouter(Vehicle vehicle) {
/*...*/
/// ----------------------------------------------------------------------
/// original:
//Graph<String, ModelEdge> graph = mapper.translateModel(
// points, objectService.fetchObjects(Path.class), vehicle);
//PointRouter router = new ShortestPathPointRouter(
// createShortestPathAlgorithm(graph), points);
// Make a single request for a route from one point to a different one
// to make sure the point router is primed.
// (Some implementations are initialized lazily.)
//if (points.size() >= 2) {
// Iterator<Point> pointIter = points.iterator();
// router.getRouteSteps(pointIter.next(), pointIter.next());
//}
/// ----------------------------------------------------------------------
/// new:
PointRouter router = createPointRouterInternal(vehicle, points);
/// ----------------------------------------------------------------------
/*...*/
}
2)新增以下方法和数据.
/// ------------------------------------------------------------------------
/// Creates a point router for the given vehicle
/// and excludes the unusablePoints.
/// added by Catching Xu with email of a0soft@163.com.
/// @param vehicle The vehicle.
/// @param unusablePoints The unusable points.
/// @return The point router.
@Override
public PointRouter createPointRouter(
Vehicle vehicle,
Collection<Point> unusablePoints)
{
requireNonNull(vehicle, "vehicle");
requireNonNull(unusablePoints, "unusablePoints");
long timeStampBefore = System.currentTimeMillis();
Set<Point> points = objectService.fetchObjects(Point.class);
for (Point pt : unusablePoints)
{
if (points.contains(pt))
{
points.remove(pt);
}
}
PointRouter router = createPointRouterInternal(
vehicle, points);
LOG.debug("Created point router for {} in {} milliseconds.",
vehicle.getName(),
System.currentTimeMillis() - timeStampBefore);
return router;
}
/// 注：removeUnusablePoints，其逻辑已在该方法中体现.
private static final String DEFAULT_ROUTING_GROUP = "";
private String getRoutingGroupOfVehicle(Vehicle vehicle) {
String propVal = vehicle.getProperty(PROPKEY_ROUTING_GROUP);
return propVal == null ? DEFAULT_ROUTING_GROUP : propVal.strip();
}
private PointRouter createPointRouterInternal(
Vehicle vehicle,
Collection<Point> points)
{
boolean usingGroupFilter = true;
String groupName = getRoutingGroupOfVehicle(vehicle);
/// 若组名为空, 则对整个图进行计算
if (groupName.isBlank() || groupName.isEmpty()) {
usingGroupFilter = false;
}
if (usingGroupFilter) {
Set<Group> allGroups = objectService.fetchObjects(Group.class);
for (Group group: allGroups) {
if (group.getName().equals(groupName)) {
Set<TCSObjectReference<?>> members = group.getMembers();
break;
}
}
}
Set<Path> allPaths = objectService.fetchObjects(Path.class);
allPaths.removeIf(
value->(
points.contains(value.getSourcePoint())
|| points.contains(value.getDestinationPoint())));
Graph<String, ModelEdge> graph = mapper.translateModel(
points, allPaths, vehicle);
PointRouter router = new ShortestPathPointRouter(
createShortestPathAlgorithm(graph), points);
// Make a single request for a route from one point to a different one
// to make sure the point router is primed.
// (Some implementations are initialized lazily.)
if (points.size() >= 2) {
Iterator<Point> pointIter = points.iterator();
router.getRouteSteps(
pointIter.next(),
pointIter.next());
}
return router;
}
/// ------------------------------------------------------------------------
需要:
import java.util.Collection;
import static org.opentcs.components.kernel.Router.PROPKEY_ROUTING_GROUP;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.data.model.Group;
1)修改以下方法.
@Override
public long getCosts(TCSObjectReference<Point> srcPointRef,
TCSObjectReference<Point> destPointRef) {
/*...*/
/// ------------------------------------------------------------------------
/// Catch and handle exceptions.
/// modified by Catching Xu with email of a0soft@163.com.
/// original:
//PointRouter router = new ShortestPathPointRouter(
// createShortestPathAlgorithm(graph), points);
//GraphPath<String, ModelEdge> graphPath = algo.getPath(
// srcPointRef.getName(), destPointRef.getName());
//if (graphPath == null) {
// return INFINITE_COSTS;
//}
/// new:
GraphPath<String, ModelEdge> graphPath = null;
try {
graphPath = algo.getPath(srcPointRef.getName(), destPointRef.getName());
if (graphPath == null) {
return INFINITE_COSTS;
}
}
catch (IllegalArgumentException e) {
System.out.println(e.getMessage());
return INFINITE_COSTS;
}
/// ------------------------------------------------------------------------
return (long) graphPath.getWeight();
}
注：网友们提到的不能派单或不能自动分配车辆现象，可能因为前言所述两篇文章忽略了此部分而导致。
1)修改以下方法.
@Override
public Graph<String, ModelEdge> translateModel(
Collection<Point> points, Collection<Path> paths, Vehicle vehicle) {
/*...*/
Graph<String, ModelEdge> graph = new DirectedWeightedMultigraph<>(
ModelEdge.class);
/// ----------------------------------------------------------------------
Set<String> pointNames = new HashSet<>();
/// ----------------------------------------------------------------------
for (Point point : points) {
graph.addVertex(point.getName());
/// --------------------------------------------------------------------
pointNames.add(point.getName());
/// --------------------------------------------------------------------
}
boolean allowNegativeEdgeWeights = configuration.algorithm()
.isHandlingNegativeCosts();
for (Path path : paths) {
/// --------------------------------------------------------------------
/// skip the path with vertex not existing.
if (!pointNames.contains(path.getSourcePoint().getName())
|| !pointNames.contains(path.getDestinationPoint().getName())) {
continue;
}
/// --------------------------------------------------------------------
/*...*/
}
/*...*/
}
需要:
import java.util.HashSet;
import java.util.Set;
1)声明接口.
/// ------------------------------------------------------------------------
/// Support reroute while a vehicle arrives
/// the destination of a step of the route.
void vehicleUpdatedProgressIndex();
/// ------------------------------------------------------------------------
1)新增以下方法.
/// ------------------------------------------------------------------------
@Override
public void vehicleUpdatedProgressIndex() {
if (configuration.rerouteTrigger() == ROUTE_STEP_FINISHED)
{
LOG.debug("Scheduling reroute task...");
kernelExecutor.submit(() ->
{
LOG.debug(
"Rerouting vehicles due to a vehicle updated progress index...");
/// Sorry for the inconvenience of displaying my relevant code
/// here, include the update for method "getUnusablePoints"!
/// TODO: to be optimized!!!
rerouteUtil.reroute(vehicleService.fetchObjects(Vehicle.class));
});
}
}
/// ------------------------------------------------------------------------
需要:
import static org.opentcs.strategies.basic.dispatching.DefaultDispatcherConfiguration.RerouteTrigger.ROUTE_STEP_FINISHED;
1)修改以下方法.
private void updatePositionWithOrder(String position, Point point) {
/*...*/
vehicleService.updateVehicleRouteProgressIndex(
vehicle.getReference(), moveCommand.getStep().getRouteIndex());
/// ------------------------------------------------------------------
dispatcherService.vehicleUpdatedProgressIndex();
///-------------------------------------------------------------------
// Let the scheduler know where we are now.
scheduler.updateProgressIndex(
this, moveCommand.getStep().getRouteIndex());
/*...*/
}
1)声明接口.
/// ------------------------------------------------------------------------
/// Support reroute while a vehicle arrives
/// the destination of a step of the route.
void vehicleUpdatedProgressIndex();
/// ------------------------------------------------------------------------
1)声明接口.
/// ------------------------------------------------------------------------
/// Support reroute while a vehicle arrives
/// the destination of a step of the route.
/// added by Catching Xu with email of a0soft@163.com.
void vehicleUpdatedProgressIndex(
ClientID clientId)
throws RemoteException;
/// ------------------------------------------------------------------------
1)新增以下方法
/// ------------------------------------------------------------------------
/// Returns the index of this command in the route.
/// Support reroute while a vehicle arrives
/// the destination of a step of the route.
/// added by Catching Xu with email of a0soft@163.com.
public void vehicleUpdatedProgressIndex() {
dispatcher.vehicleUpdatedProgressIndex();
}
/// ------------------------------------------------------------------------
1)新增以下方法
/// ------------------------------------------------------------------------
/// Support reroute while a vehicle arrives
/// the destination of a step of the route.
/// added by Catching Xu with email of a0soft@163.com.
public void vehicleUpdatedProgressIndex() {
try {
getRemoteService().vehicleUpdatedProgressIndex(getClientId());
}
catch (RemoteException ex) {
throw findSuitableExceptionFor(ex);
}
}
/// ------------------------------------------------------------------------
1)新增以下方法
/// ------------------------------------------------------------------------
/// Support reroute while a vehicle arrives
/// the destination of a step of the route.
/// added by Catching Xu with email of a0soft@163.com.
public void vehicleUpdatedProgressIndex(ClientID clientId) {
userManager.verifyCredentials(clientId, UserPermission.MODIFY_ORDER);
try {
kernelExecutor.submit(() ->
dispatcherService.vehicleUpdatedProgressIndex()).get();
}
catch (InterruptedException | ExecutionException exc) {
throw findSuitableExceptionFor(exc);
}
}
/// ------------------------------------------------------------------------