Re: [opentcs-discuss] Question about path intersection

[Walter, S. <Ste...@im...>]

Hello Dmitriy,

if you need to tell a vehicle that there is a branch ahead and it should follow the left or the right direction, put that information into a property at the respective path in your plant model. For instance, for a path branching off to the left, you could add a property with key “myagv:trackSelection” and a value of “left”. Within your communication adapter’s sendCommand() method, you will get the path contained in the MovementCommand. There, you could check for the presence and value of the property and interpret it.

(The WayEntry and VelocityController classes are part of the loopback driver. I wouldn’t recommend using them when building a communication adapter for a real vehicle. Also, getProcessModel().getVelocityController() looks suspiciously like you have derived your communication adapter from the loopback driver. I cannot recommend that, either – better only derive from BasicVehicleCommAdapter.)

Best regards,
Stefan

Von: Мурашов, Дмитрий [mailto:dmi...@au...]
Gesendet: Montag, 5. Februar 2018 12:53
An: ope...@li...
Betreff: [opentcs-discuss] Question about path intersection

[https://mailtrack.io/trace/mail/96f79398c85ab9489268f443ee88584d20a96cbf.png?u=87270]Hello Stefan,

I making own adapter for AGV (based on Modbus TCP) , and we using AGV controlled on magnetic tape.
in point of path intersection, AGV have to decide, with path need to chose (left, or rigth)

i mean if we have point (with 1 input, and 2 output path).
How in CommunicationAdapter class i can to clarify , that. on witch way i have to move on left side road or
​ ​
on right side.

i can have
​ ​
WayEntry.. (getProcessModel().getVelocityController().getCurrentWayEntry()) But there is no this information inside.
How better add this info to WayEntry ?

Thank you.


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