很多人研究這個平臺,都會卡在第一步,如何創建一個新的通信驅動,
官方文檔也沒怎麼寫清楚
今天寫這個博客,是爲了幫助大家創建一個新的驅動(具體的通信,我這兒就不講解)
一、首先在官網下載4.12的源碼
http://www.opentcs.org/en/download.html
二、安裝IDE 我這兒使用的是NetBeans8.2(不會裝的就別學JAVA了)
不要用Eclipse或者IntelliJ IDEA(會有問題的,不信你試試)
給NetBeans安裝Gradle插件(自己百度怎麼裝,我不管,你不會研究也別學JAVA了)
三、打開項目,選擇下載的源碼(解壓哦)
打開後等待會片刻就行(Gradle會自己添加依賴,要聯網喲)
最後雙擊一下openTCS-CommAdapter-Loopback,openTCS-Kernel以及openTCS-PlatOverView(到時候運行要用到)
雙擊完在項目下後,關閉摺疊,可以看到這三個項目
四、創建通信驅動
1.在openTCS-CommAdapter-Loopback下創建一個package(按實際情況來,我這兒比較隨意)
按照官方文檔步驟操作
2.創建一個驅動實現類VehicleCommAdapter(名字隨意,我這邊用TestCommAdapter)
a.之類爲BasicVehicleCommAdapter
b.實現抽象方法
然後提示需要創建構造方法,那我們就寫一個構造方法(參照LoopbackCommunicationAdapter,configuration可以不需要)
3.此時我們需要新建TestAdapterComponentsFactory和TestVehicleModel這兩個東西(超找一下virtualvehicle可以寫出來)
最後修改一下TestCommAdapter,我的代碼如下:
package org.opentcs.testvehicle;
import com.google.inject.assistedinject.Assisted;
import java.util.List;
import static java.util.Objects.requireNonNull;
import javax.inject.Inject;
import org.opentcs.data.model.Vehicle;
import org.opentcs.data.order.Route.Step;
import org.opentcs.drivers.vehicle.BasicVehicleCommAdapter;
import org.opentcs.drivers.vehicle.MovementCommand;
import org.opentcs.util.CyclicTask;
import org.opentcs.util.ExplainedBoolean;
/**
*
* @author zjw
*/
public class TestCommAdapter extends BasicVehicleCommAdapter {
private TestAdapterComponentsFactory componentsFactory;
private Vehicle vehicle;
private boolean initialized;
private CyclicTask testTask;
@Inject
public TestCommAdapter(TestAdapterComponentsFactory componentsFactory, @Assisted Vehicle vehicle) {
super(new TestVehicleModel(vehicle), 2, 1, "CHARGE");
this.componentsFactory = componentsFactory;
this.vehicle = vehicle;
}
@Override
public void initialize() {
initialized = true;
//網絡通信,獲取當前位置,電量,等信息
//getProcessModel().setVehicleState(Vehicle.State.IDLE);
//getProcessModel().setVehiclePosition("Point-0001");
}
@Override
public synchronized void enable() {
if (isEnabled()) {
return;
}
//開啓線程(略)
//testTask = new TestTask();
//Thread simThread = new Thread(testTask, getName() + "-Task");
//simThread.start();
super.enable();
}
@Override
public synchronized void disable() {
if (!isEnabled()) {
return;
}
//線程停止
//testTask.terminate();
//testTask = null;
super.disable();
}
@Override
public void sendCommand(MovementCommand cmd)
throws IllegalArgumentException {
requireNonNull(cmd, "cmd");
}
@Override
public ExplainedBoolean canProcess(List<String> operations) {
requireNonNull(operations, "operations");
final boolean canProcess = isEnabled();
final String reason = canProcess ? "" : "adapter not enabled";
return new ExplainedBoolean(canProcess, reason);
}
@Override
public void processMessage(Object message) {
}
@Override
protected void connectVehicle() {
}
@Override
protected void disconnectVehicle() {
}
@Override
protected boolean isVehicleConnected() {
return true;
}
/**
* 內部類,用於處理運行步驟
*/
private class TestTask
extends CyclicTask {
private TestTask() {
super(0);
}
//線程執行
@Override
protected void runActualTask() {
try {
//獲取狀態 位置 速度 反向
final MovementCommand curCommand;
synchronized (TestCommAdapter.this) {
curCommand = getSentQueue().peek();
}
final Step curStep = curCommand.getStep();
//運行Step,略
if (!curCommand.isWithoutOperation()) {
//運行操作(上料或者下料,略)
}
if (getSentQueue().size() <= 1 && getCommandQueue().isEmpty()) {
getProcessModel().setVehicleState(Vehicle.State.IDLE);
}
//更新UI
synchronized (TestCommAdapter.this) {
MovementCommand sentCmd = getSentQueue().poll();
if (sentCmd != null && sentCmd.equals(curCommand)) {
getProcessModel().commandExecuted(curCommand);
TestCommAdapter.this.notify();
}
}
}
catch (Exception ex) {
}
}
}
}
4.讓Kernel加載該驅動
修改GuiceConfig
新增下面這兩句
5.創建TestCommAdapterFactory類
實現抽象方法
具體代碼如下:
package org.opentcs.testvehicle;
import static java.util.Objects.requireNonNull;
import javax.inject.Inject;
import org.opentcs.data.model.Vehicle;
import org.opentcs.drivers.vehicle.VehicleCommAdapter;
import org.opentcs.drivers.vehicle.VehicleCommAdapterFactory;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
*
* @author zjw
*/
public class TestCommAdapterFactory implements VehicleCommAdapterFactory {
private static final Logger LOG = LoggerFactory.getLogger(TestCommAdapterFactory.class);
private TestAdapterComponentsFactory componentsFactory;
private boolean initialized;
@Inject
public TestCommAdapterFactory(TestAdapterComponentsFactory componentsFactory) {
this.componentsFactory = requireNonNull(componentsFactory, "componentsFactory");
}
@Override
@Deprecated
public String getAdapterDescription() {
//這是Kernel中顯示的驅動名稱,中文會亂碼,如果要使用中文,請使用配置文件
return "MyTestAdapter";
//return ResourceBundle.getBundle("org/opentcs/virtualvehicle/Bundle").getString("AdapterTestFactoryDescription");
}
@Override
public boolean providesAdapterFor(Vehicle vehicle) {
requireNonNull(vehicle, "vehicle");
return true;
}
@Override
public VehicleCommAdapter getAdapterFor(Vehicle vehicle) {
requireNonNull(vehicle, "vehicle");
return componentsFactory.createCommAdapter(vehicle);
}
@Override
public void initialize() {
if (initialized) {
LOG.debug("Already initialized.");
return;
}
initialized = true;
}
@Override
public boolean isInitialized() {
return initialized;
}
@Override
public void terminate() {
if (!initialized) {
LOG.debug("Not initialized.");
return;
}
initialized = false;
}
}
6.最後運行一下Kernel以及PlantOverview看一下有沒有驅動顯示出來
在PlantOverview下Load Model 選擇Demo-01.xml
然後點擊File -> Persist mode in the kernel
在點擊File->Mode -> Operating mode切換到操作模式
看到以上畫面,我們就成功創建了一個驅動,具體怎麼通信,我們下次再講解