一、OpenTCS4.12 创建一个新的通信驱动

很多人研究这个平台，都会卡在第一步，如何创建一个新的通信驱动，
官方文档也没怎么写清楚
今天写这个博客，是为了帮助大家创建一个新的驱动（具体的通信，我这儿就不讲解）

一、首先在官网下载4.12的源码
http://www.opentcs.org/en/download.html

二、安装IDE 我这儿使用的是NetBeans8.2(不会装的就别学JAVA了)
不要用Eclipse或者IntelliJ IDEA（会有问题的，不信你试试）
给NetBeans安装Gradle插件(自己百度怎么装，我不管，你不会研究也别学JAVA了)

三、打开项目，选择下载的源码（解压哦）

打开后等待会片刻就行（Gradle会自己添加依赖，要联网哟）

最后双击一下openTCS-CommAdapter-Loopback,openTCS-Kernel以及openTCS-PlatOverView(到时候运行要用到)

双击完在项目下后，关闭折叠，可以看到这三个项目

四、创建通信驱动
1.在openTCS-CommAdapter-Loopback下创建一个package（按实际情况来，我这儿比较随意）

按照官方文档步骤操作

2.创建一个驱动实现类VehicleCommAdapter(名字随意，我这边用TestCommAdapter)
	a.之类为BasicVehicleCommAdapter 
	b.实现抽象方法

然后提示需要创建构造方法，那我们就写一个构造方法（参照LoopbackCommunicationAdapter,configuration可以不需要）

3.此时我们需要新建TestAdapterComponentsFactory和TestVehicleModel这两个东西（超找一下virtualvehicle可以写出来）

最后修改一下TestCommAdapter，我的代码如下：

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;
    //网络通信,获取当前位置，电量，等信息
    //getProcessModel().setVehicleState(Vehicle.State.IDLE);
    //getProcessModel().setVehiclePosition("Point-0001");
  }

  @Override
  public synchronized void enable() {
    if (isEnabled()) {
      return;
    }
    //开启线程(略)
    //testTask = new TestTask();
    //Thread simThread = new Thread(testTask, getName() + "-Task");
    //simThread.start();
    super.enable();
  }

  @Override
  public synchronized void disable() {
    if (!isEnabled()) {
      return;
    }
    //线程停止
    //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;
  }

  /**
   * 内部类，用于处理运行步骤
   */
  private class TestTask
      extends CyclicTask {

    private TestTask() {
      super(0);
    }

    //线程执行
    @Override
    protected void runActualTask() {
      try {
        //获取状态  位置  速度  反向
        final MovementCommand curCommand;
        synchronized (TestCommAdapter.this) {
          curCommand = getSentQueue().peek();
        }
        final Step curStep = curCommand.getStep();
        //运行Step，略
        if (!curCommand.isWithoutOperation()) {
          //运行操作（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.让Kernel加载该驱动
修改GuiceConfig

新增下面这两句

5.创建TestCommAdapterFactory类

实现抽象方法

具体代码如下：

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() {
    //这是Kernel中显示的驱动名称,中文会乱码，如果要使用中文，请使用配置文件
    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.最后运行一下Kernel以及PlantOverview看一下有没有驱动显示出来
在PlantOverview下Load Model 选择Demo-01.xml

然后点击File -> Persist mode in the kernel

在点击File->Mode -> Operating mode切换到操作模式

看到以上画面，我们就成功创建了一个驱动，具体怎么通信，我们下次再讲解