系统启动
启动 Kernel：加载核心应用，初始化系统配置和状态。
启动 Plant Overview：加载图形用户界面，初始化模型和用户界面。
模型导入和配置
在 Plant Overview 中导入或创建工厂布局模型。
配置路径、位置和车辆信息。
车辆连接
通过 Vehicle Adapters 连接 AGV 控制器。
配置和注册 AGV，包括通讯参数和物理特性。
任务创建和分配
通过 Order Management 客户端或 RESTful API 创建运输任务。
Kernel 根据调度算法将任务分配给合适的 AGV。
任务执行和监控
AGV 接收并执行任务，根据路径规划行驶到指定位置。
系统实时监控 AGV 状态和任务进度，通过 GUI 或监控工具展示。
±--------------------------+
| Client Apps |
| (Order Management, etc.) |
±-----------±-------------+
|
|
±-----------v--------------+
| Plant Overview |
| (GUI, Model Editor, etc.)|
±-----------±-------------+
|
|
±-----------v--------------+
| Kernel |
| (Core Control, Storage, |
| Kernel Extensions) |
±-----------±-------------+
|
|
±-----------v--------------+
| Vehicle Drivers |
| (Vehicle Adapters, Comm. |
| Layer) |
±-----------±-------------+
|
|
±-----------v--------------+
| AGV Controllers |
±--------------------------+
如果要二开就要先熟悉模型里有哪些
我们先导入demo,然后通过api 接口查看元素
api 地址
浏览器访问
http://localhost:55200/v1/plantModel
返回结果：
{
"name" : "Demo-01",
"points" : [ {
"name" : "Point-0001",
"position" : {
"x" : 31000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 31000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0002",
"position" : {
"x" : 25000,
"y" : 9000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "PARK_POSITION",
"layout" : {
"position" : {
"x" : 25000,
"y" : 9000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ {
"name" : "tcs:parkingPositionPriority",
"value" : "4"
} ]
}, {
"name" : "Point-0003",
"position" : {
"x" : 31000,
"y" : 5000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 31000,
"y" : 5000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0004",
"position" : {
"x" : 25000,
"y" : 3000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "PARK_POSITION",
"layout" : {
"position" : {
"x" : 25000,
"y" : 3000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ {
"name" : "tcs:parkingPositionPriority",
"value" : "3"
} ]
}, {
"name" : "Point-0005",
"position" : {
"x" : 31000,
"y" : -1000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 31000,
"y" : -1000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0006",
"position" : {
"x" : 25000,
"y" : -3000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "PARK_POSITION",
"layout" : {
"position" : {
"x" : 25000,
"y" : -3000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ {
"name" : "tcs:parkingPositionPriority",
"value" : "2"
} ]
}, {
"name" : "Point-0007",
"position" : {
"x" : 31000,
"y" : -7000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 31000,
"y" : -7000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0008",
"position" : {
"x" : 22000,
"y" : 1000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 22000,
"y" : 1000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0009",
"position" : {
"x" : 22000,
"y" : -5000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 22000,
"y" : -5000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0010",
"position" : {
"x" : 25000,
"y" : -9000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "PARK_POSITION",
"layout" : {
"position" : {
"x" : 25000,
"y" : -9000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ {
"name" : "tcs:parkingPositionPriority",
"value" : "1"
} ]
}, {
"name" : "Point-0011",
"position" : {
"x" : 22000,
"y" : -11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 22000,
"y" : -11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0013",
"position" : {
"x" : 18000,
"y" : -15000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 18000,
"y" : -15000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0014",
"position" : {
"x" : 22000,
"y" : 7000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 22000,
"y" : 7000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0015",
"position" : {
"x" : 7850,
"y" : -11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 7850,
"y" : -11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0016",
"position" : {
"x" : -2000,
"y" : -11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -2000,
"y" : -11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0017",
"position" : {
"x" : -12000,
"y" : -15000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -12000,
"y" : -15000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0018",
"position" : {
"x" : 8000,
"y" : -15000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 8000,
"y" : -15000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0019",
"position" : {
"x" : -2000,
"y" : -15000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -2000,
"y" : -15000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0020",
"position" : {
"x" : -20000,
"y" : -12000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -20000,
"y" : -12000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0021",
"position" : {
"x" : -24000,
"y" : -8000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -24000,
"y" : -8000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0022",
"position" : {
"x" : -12000,
"y" : -11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -12000,
"y" : -11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0023",
"position" : {
"x" : -24000,
"y" : -4000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -24000,
"y" : -4000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0024",
"position" : {
"x" : -24000,
"y" : 1000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -24000,
"y" : 1000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0025",
"position" : {
"x" : -24000,
"y" : 6000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -24000,
"y" : 6000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0026",
"position" : {
"x" : -24000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -24000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0027",
"position" : {
"x" : -20000,
"y" : 15000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "PARK_POSITION",
"layout" : {
"position" : {
"x" : -20000,
"y" : 15000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ {
"name" : "tcs:parkingPositionPriority",
"value" : "4"
} ]
}, {
"name" : "Point-0028",
"position" : {
"x" : -8000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -8000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0029",
"position" : {
"x" : -2000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -2000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0030",
"position" : {
"x" : -20000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -20000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0032",
"position" : {
"x" : -13000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -13000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0033",
"position" : {
"x" : 24000,
"y" : 15000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 24000,
"y" : 15000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0034",
"position" : {
"x" : 16000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 16000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0035",
"position" : {
"x" : 3000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 3000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0036",
"position" : {
"x" : 9000,
"y" : 11000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 9000,
"y" : 11000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0037",
"position" : {
"x" : -8000,
"y" : 7000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -8000,
"y" : 7000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0038",
"position" : {
"x" : -2000,
"y" : 7000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -2000,
"y" : 7000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0039",
"position" : {
"x" : -13000,
"y" : 9000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -13000,
"y" : 9000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0040",
"position" : {
"x" : -8000,
"y" : 9000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -8000,
"y" : 9000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0041",
"position" : {
"x" : -2000,
"y" : 9000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -2000,
"y" : 9000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0042",
"position" : {
"x" : -20000,
"y" : 9000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -20000,
"y" : 9000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0043",
"position" : {
"x" : -11000,
"y" : 5000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -11000,
"y" : 5000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0044",
"position" : {
"x" : 7000,
"y" : 5000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 7000,
"y" : 5000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0045",
"position" : {
"x" : 7000,
"y" : -7000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : 7000,
"y" : -7000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0046",
"position" : {
"x" : -11000,
"y" : -7000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
"position" : {
"x" : -11000,
"y" : -7000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"layerId" : 0
},
"vehicleEnvelopes" : [ ],
"properties" : [ ]
}, {
"name" : "Point-0047",
"position" : {
"x" : 11000,
"y" : 1000,
"z" : 0
},
"vehicleOrientationAngle" : "NaN",
"type" : "HALT_POSITION",
"layout" : {
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},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Goods in north 02",
"typeName" : "Transfer station",
"position" : {
"x" : -28000,
"y" : 6000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0025",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -28000,
"y" : 6000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Goods in south 01",
"typeName" : "Transfer station",
"position" : {
"x" : -2000,
"y" : -18000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0019",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -2000,
"y" : -18000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Goods in south 02",
"typeName" : "Transfer station",
"position" : {
"x" : -12000,
"y" : -24000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0059",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -12000,
"y" : -24000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Goods out 01",
"typeName" : "Transfer station",
"position" : {
"x" : -20000,
"y" : -15000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0020",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -20000,
"y" : -15000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Goods out 02",
"typeName" : "Transfer station",
"position" : {
"x" : -28000,
"y" : -8000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0021",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -28000,
"y" : -8000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Recharge 01",
"typeName" : "Recharge station",
"position" : {
"x" : 27750,
"y" : 6750,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0002",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : 27750,
"y" : 6250
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Recharge 02",
"typeName" : "Recharge station",
"position" : {
"x" : 27750,
"y" : 750,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0004",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : 27750,
"y" : 250
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Recharge 03",
"typeName" : "Recharge station",
"position" : {
"x" : 27750,
"y" : -5250,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0006",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : 27750,
"y" : -5750
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Recharge 04",
"typeName" : "Recharge station",
"position" : {
"x" : 27750,
"y" : -11250,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0010",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : 27750,
"y" : -11750
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Storage 01",
"typeName" : "Transfer station",
"position" : {
"x" : -8000,
"y" : 14000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0028",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -8000,
"y" : 14000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Storage 02",
"typeName" : "Transfer station",
"position" : {
"x" : -2000,
"y" : 14000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0029",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -2000,
"y" : 14000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Working station 01",
"typeName" : "Working station",
"position" : {
"x" : -11000,
"y" : -3000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0054",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : -11000,
"y" : -3000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Working station 02",
"typeName" : "Working station",
"position" : {
"x" : 15000,
"y" : 1000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0047",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : 15000,
"y" : 1000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
}, {
"name" : "Working station 03",
"typeName" : "Working station",
"position" : {
"x" : 15000,
"y" : -3000,
"z" : 0
},
"links" : [ {
"pointName" : "Point-0053",
"allowedOperations" : [ ]
} ],
"locked" : false,
"layout" : {
"position" : {
"x" : 15000,
"y" : -3000
},
"labelOffset" : {
"x" : -10,
"y" : -20
},
"locationRepresentation" : "DEFAULT",
"layerId" : 0
},
"properties" : [ {
"name" : "tcs:defaultLocationSymbol",
"value" : "DEFAULT"
} ]
} ],
"blocks" : [ {
"name" : "Block-0001",
"type" : "SINGLE_VEHICLE_ONLY",
"layout" : {
"color" : "#FF0000"
},
"memberNames" : [ "Point-0016 --- Point-0017", "Point-0019 --- Point-0022" ],
"properties" : [ ]
}, {
"name" : "Block-0002",
"type" : "SINGLE_VEHICLE_ONLY",
"layout" : {
"color" : "#0000FF"
},
"memberNames" : [ "Point-0037 --- Point-0028", "Point-0039 --- Point-0040" ],
"properties" : [ ]
}, {
"name" : "Block-0003",
"type" : "SINGLE_VEHICLE_ONLY",
"layout" : {
"color" : "#00CC00"
},
"memberNames" : [ "Point-0052 --- Point-0044", "Point-0049 --- Point-0038" ],
"properties" : [ ]
}, {
"name" : "Block-0004",
"type" : "SINGLE_VEHICLE_ONLY",
"layout" : {
"color" : "#0099FF"
},
"memberNames" : [ "Point-0045 --- Point-0055", "Point-0045 --- Point-0016", "Point-0015 --- Point-0050" ],
"properties" : [ ]
} ],
"vehicles" : [ {
"name" : "Vehicle-01",
"length" : 1000,
"energyLevelCritical" : 30,
"energyLevelGood" : 90,
"energyLevelFullyRecharged" : 95,
"energyLevelSufficientlyRecharged" : 45,
"maxVelocity" : 1000,
"maxReverseVelocity" : 1000,
"layout" : {
"routeColor" : "#FF0000"
},
"properties" : [ {
"name" : "loopback:loadOperation",
"value" : "Load cargo"
}, {
"name" : "loopback:unloadOperation",
"value" : "Unload cargo"
}, {
"name" : "tcs:preferredAdapterClass",
"value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"
} ]
}, {
"name" : "Vehicle-02",
"length" : 1000,
"energyLevelCritical" : 30,
"energyLevelGood" : 90,
"energyLevelFullyRecharged" : 95,
"energyLevelSufficientlyRecharged" : 45,
"maxVelocity" : 1000,
"maxReverseVelocity" : 1000,
"layout" : {
"routeColor" : "#33FF00"
},
"properties" : [ {
"name" : "loopback:loadOperation",
"value" : "Load cargo"
}, {
"name" : "loopback:unloadOperation",
"value" : "Unload cargo"
}, {
"name" : "tcs:preferredAdapterClass",
"value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"
} ]
}, {
"name" : "Vehicle-03",
"length" : 1000,
"energyLevelCritical" : 30,
"energyLevelGood" : 90,
"energyLevelFullyRecharged" : 95,
"energyLevelSufficientlyRecharged" : 45,
"maxVelocity" : 1000,
"maxReverseVelocity" : 1000,
"layout" : {
"routeColor" : "#00FFFF"
},
"properties" : [ {
"name" : "loopback:loadOperation",
"value" : "Load cargo"
}, {
"name" : "loopback:unloadOperation",
"value" : "Unload cargo"
}, {
"name" : "tcs:preferredAdapterClass",
"value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"
} ]
}, {
"name" : "Vehicle-04",
"length" : 1000,
"energyLevelCritical" : 30,
"energyLevelGood" : 90,
"energyLevelFullyRecharged" : 95,
"energyLevelSufficientlyRecharged" : 45,
"maxVelocity" : 1000,
"maxReverseVelocity" : 1000,
"layout" : {
"routeColor" : "#FF33FF"
},
"properties" : [ {
"name" : "loopback:loadOperation",
"value" : "Load cargo"
}, {
"name" : "loopback:unloadOperation",
"value" : "Unload cargo"
}, {
"name" : "tcs:preferredAdapterClass",
"value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"
} ]
} ],
"visualLayout" : {
"name" : "VLayout-01",
"scaleX" : 50.0,
"scaleY" : 50.0,
"layers" : [ {
"id" : 0,
"ordinal" : 0,
"visible" : true,
"name" : "Default layer",
"groupId" : 0
} ],
"layerGroups" : [ {
"id" : 0,
"name" : "Default layer group",
"visible" : true
} ],
"properties" : [ ]
},
"properties" : [ {
"name" : "tcs:modelFileLastModified",
"value" : "2024-02-07T08:32:44Z"
} ]
}
整个 模型的原素
我们有个第一个数据对象-模型
name: "Demo-01" （模型名称）
points: Array[59] （点的数组，包含59个点）
paths: Array[75] （路径的数组，包含75条路径）
locationTypes: Array[4] （位置类型数组，包含4种位置类型）
locations: Array[16] （位置数组，包含16个位置）
blocks: Array[4] （块数组，包含4个块）
vehicles: Array[4] （车辆数组，包含4辆车）
visualLayout: Object {...} （视觉布局对象）
properties: Array[1] （属性数组，包含1个属性）
基础数据机构
这些信息通常用于定义 OpenTCS 系统中的工厂布局、路径规划、车辆配置等。
先去熟悉下这个结构内容，下一步想怎么结构化这些数据，然后通过自己的系统将这些数据传递给控制中心