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基于OpenTCS二次开发的 AGV 调度系统,支持Modbus协议可与VREP联动仿真车辆目前支持Modbus, Http, VREP, TCP, Serial协议,如有驱动定制需求可私信我

License: MIT License

Java 94.49% XSLT 0.09% HTML 0.01% Python 5.30% Jupyter Notebook 0.11% JavaScript 0.01%

agv

opentcs-4's Introduction

openTCS4.17src

介绍

开源的交通控制系统，可用于AGV的交通管制系统

使用方式

详情访问 OpenTCS Page

推荐使用IDEA,打开此项目后等待gradle加载完毕

根据上图箭头指示运行Kernel和PlantView,如果是调试的话就选择Debug

如要打包程序可选择上图Task里的installDist或Zip,可生成独立运行的程序,如需在其它电脑运行此程序需安装java 8版本的JDK或JRE

####WebClient启动在gradle里面找到openTCS-WebClient->gretty->jettyRunWar,右键选择运行即可,在浏览器里面打开http://localhost:8090/Demo )

修改部分

添加Modbus驱动

路径发送改为整段路径发送，路径格式为x，y坐标点

长路路径运行时遇到通讯中断无法按照顺序报告走完的点，需修改DefaultVehicleController内命令执行完毕的判断规则

新增Maven支持

WebClient因依赖问题暂时无法使用

使用mvn package可编译项目运行Kernel mvn exec:exec@runkernel -f openTCS-Kernel/pom.xml

使用界面调试工具 mvn exec:exec@swingexplorer -f openTCS-Kernel/pom.xml

运行PlantOverview mvn exec:exec@runplantoverview -f openTCS-PlantOverview/pom.xml

使用界面调试工具 mvn exec:exec@swingexplorer -f openTCS-PlantOverview/pom.xml

使用maven需要安装swingexplorer core 和 agent包, 暂时不支持直接引用,使用mvn install命令来安装

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opentcs-4's Issues

你好，我这边下载您的代码后编译报这个错误，该如何解决

Task :openTCS-API-Base:compileJava
Task :openTCS-API-Base:processResources NO-SOURCE
Task :openTCS-API-Base:classes
Task :openTCS-API-Base:jar
Task :openTCS-API-Injection:compileJava
Task :openTCS-API-Injection:processResources NO-SOURCE
Task :openTCS-API-Injection:classes
Task :openTCS-API-Injection:jar

Task :openTCS-Common:compileJava FAILED
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/BasePlantModelTO.java:12: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/BasePlantModelTO.java:13: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessorType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/BasePlantModelTO.java:14: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAttribute;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/BasePlantModelTO.java:15: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlTransient;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/BasePlantModelTO.java:22: error: cannot find symbol
@XmlTransient
^
symbol: class XmlTransient
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/BasePlantModelTO.java:23: error: cannot find symbol
@XmlAccessorType(XmlAccessType.PROPERTY)
^
symbol: class XmlAccessorType
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/LocationTypeTO.java:14: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/LocationTypeTO.java:15: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessorType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/LocationTypeTO.java:16: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAttribute;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/LocationTypeTO.java:17: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlElement;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/LocationTypeTO.java:18: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:14: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:15: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessorType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:16: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAttribute;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:17: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlElement;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:18: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlSchemaType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:19: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlTransient;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:25: error: cannot find symbol
@XmlTransient
^
symbol: class XmlTransient
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PlantModelElementTO.java:26: error: cannot find symbol
@XmlAccessorType(XmlAccessType.PROPERTY)
^
symbol: class XmlAccessorType
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/LocationTypeTO.java:24: error: cannot find symbol
@XmlAccessorType(XmlAccessType.PROPERTY)
^
symbol: class XmlAccessorType
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/LocationTypeTO.java:25: error: cannot find symbol
@XmlType(propOrder = {"name", "id", "locationNamePrefix", "allowedOperations", "properties"})
^
symbol: class XmlType
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/AllowedOperationTO.java:10: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/AllowedOperationTO.java:11: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessorType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/AllowedOperationTO.java:17: error: cannot find symbol
@XmlAccessorType(XmlAccessType.PROPERTY)
^
symbol: class XmlAccessorType
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PropertyTO.java:12: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PropertyTO.java:13: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAccessorType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PropertyTO.java:14: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlAttribute;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PropertyTO.java:15: error: package javax.xml.bind.annotation does not exist
import javax.xml.bind.annotation.XmlType;
^
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PropertyTO.java:21: error: cannot find symbol
@XmlAccessorType(XmlAccessType.PROPERTY)
^
symbol: class XmlAccessorType
/home/jetson/tcs_workspace/OpenTCS-4-master/openTCS-Common/src/main/java/org/opentcs/util/persistence/v002/PropertyTO.java:22: error: cannot find symbol
@XmlType(propOrder = {"name", "value"})
^

请问博主有将OpenTCS用到项目上吗？

请问博主将OpenTCS用到项目上吗？还是就是兴趣学习了一下？您是AGV行业从业者吗？

jcenter to mavenCentral

要把**仓库改到mavenCentral

请问一下，该opentcs可以实现web化么，还是说该openTcs只能实现java gui 呢

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403 forbidden

gradle 用不了啊，直接403~

关于opentcs对接门的一些问题

你好作者，我想问一下您的代码关于对接门写的有点复杂我没有看得懂，能否略微讲解下目前我是通过canSendnext这个方法riturnfalse来实现的但是我感觉似乎会有风险

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