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Affected version

OpenTCS Version 5.17.1
VDA5050 Version 0.20

Steps to reproduce

1. Set kernel config defaultdispatcher.parkIdleVehicles => true
2. Use map with a VDA5050 vehicle , set property "vda5050:maxStepsHorizon"=>2, also with a park point
3. Move AGV to the point leave park point for a long distance that make sure there is enought time to create new order before parking order finish, and wait until kernel send parking order to AGV
4. While AGV is executing park order, use API or OperationDesk to create a transportorder

Expected behaviour

Parking order should be interrupted, then AGV processes the next transportorder.

Actual behaviour

After the parking order is interrupted, the AGV remains in the EXECUTING state, and the next transport order remains 'DISPATCHABLE.'

Additional information

The VDA5050 vehicle we use sends its state along with horizon nodes and edges. When a parking order is interrupted, the vehicle retains only the horizon path and waits for the 'released' transfer to be set to 'true.' Since the nodeState is not empty, the statemapping in commadapter-vda5050 shows as EXECUTING.

However, in TCS, the parking order is marked as completed, and the next transport order is waiting for the vehicle to be in the IDLE state.

Sending a 'cancelOrder' instant action can clear the nodeState and edgeState on the AGV, returning it to the IDLE state and allowing the AGV to resume operation.

Affected version

v0.19.0

Steps to reproduce

1. A "State" JSON without "Errors" or "Information" data
2. The null exception happens once execute function toErrorPropertyValue / toInfoPropertyValue in Statemappings.java

Expected behaviour

Since "errors" and "Information" are optional, no exception happens in function toErrorPropertyValue / toInfoPropertyValue in Statemappings.java

Actual behaviour

Add the judge to return empty if state.getInformation() / state.getErrors() are null or isEmpty.

Additional information

User story / use case

when not recieve state msg from a agv to long; controller should set agv state UNKNOWN。

reason

now controller still remain last state IDLE，agv cannot send disconnect msg sometime.

1.when robot failed with some task and reboot, i cancel the last task in tcs, and start a new task, but tcs nerver send a mqtt msg to the robot, i need to restart the tcs kernel to recover;
2.when robot shut down ,tcs cannot recieve state topic for a long time , but state of robot stay IDLE;
3.when robot recieve a action of location, robot need to know the coordinate x y of location, but according to the doc i need to add a property of parameter.x ，paramater.y to location, is there any convenient way to add x y to action msg

commit :da9ed93

Affected version

The latest commit of Format code via Spotless

Steps to reproduce

1. Setup commadapter.vehicle.vda5050.onOpModeChangeDoResetPosition = AUTOMATIC=false, SEMIAUTOMATIC=false, SERVICE=true, MANUAL=false, TEACHIN=false
2. Change OpMode from 'AUTOMATIC' to 'SERVICE'
3. Nothing change in operationDesk

Expected behaviour

1. Release the point/path resource for this vehicle or I misunderstand the usage of this configuration?

Currently, the action ID in the order message from the TCS transportOrders API is Order_destination_action_1.

According to VDA5050 guidelines, it is recommended to use a UUID instead.

In the CancelOrder InstantAction, the action ID is already in UUID format.

Is there a chance to update the API's action ID to UUID format as well?

{
  "headerId": 1,
  "timestamp": "2024-07-01T09:22:21.356525Z",
  "version": "2.0.0",
  "manufacturer": "TCS",
  "serialNumber": "0001",
  "orderId": "TOrder-01J1PSC5SVRGSZ0NXFSVJ14TMD-0",
  "orderUpdateId": 1,
  "nodes": [
    {
      "nodeId": "07000007",
      "sequenceId": 4,
      "released": true,
      "actions": [
        {
          "actionType": "customAction",
          "actionId": "Order_destination_action_1",
          "blockingType": "HARD",
          "actionParameters": [
            {
              "key": "DM001",
              "value": "465"
            },
            {
              "key": "DM002",
              "value": "456"
            },
            {
              "key": "DM003",
              "value": "2"
            },
            {
              "key": "DM004",
              "value": "1"
            }
          ]
        }
      ],
      "nodePosition": {
        "x": 8.5,
        "y": 8.0,
        "mapId": "testmap",
        "theta": -1.571,
        "allowedDeviationXY": 9.0,
        "allowedDeviationTheta": 0.016
      }
    }
  ],
  "edges": [],
  "zoneSetId": ""
}

Affected version

The latest commit of Format code via Spotless

Steps to reproduce

1. Setup commadapter.vehicle.vda5050.onOpModeChangeDoUpdateIntegrationLevel with AUTOMATIC=TO_BE_UTILIZED
2. When AGV is online and publish MQ 'state' with "operatingMode" : "AUTOMATIC", Integration level can't be changed. (The reason is because the default value of OperatingMode of AGV is "AUTOMATIC" too and will be ignore

   opentcs-commadapter-vda5050/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/CommAdapterImpl.java

   Line 638 in 0e07ac5

   if (getProcessModel().getPreviousState().getOperatingMode() == state.getOperatingMode()) {

3. The Integration level can't be changed When AGV disconnect also.

Expected behaviour

Integration level should be changed properly when AGV is online and offline.

Actual behaviour

Additional information

User story / use case

when the properties
vda5050:vehicleLengthLoaded
vda5050:vehicleLengthUnloaded
not set, the program will use the default 1000

and then enable the vehicle，it while replace the model property of length to1000 .

can it use the vaule of the model property of length when the 2 properties are not set?

Affected version

da9ed93

Steps to reproduce

1.send a task to agv;
2. agv got something wrong in the middle of route, and restart in the initial point;
3. cancel last task, start a new one

Expected behaviour

agv recieve a new order form mq

Actual behaviour

controller never send order to agv again unless restart the kernel software.

Additional information