When creating a transportation order and sending a command, how should one wait for the actual agv vehicle to arrive at the station before sending the next command

[1124415460]

I found that the comments for the sendCommand(MovementCommand cmd) method in the source code should not block this method. However, I need to set up a while loop to send the next command when the actual agv vehicle arrives at or is about to arrive at the point. If I can't block in this method, then how should I fulfill my requirements

/**

• Converts the given command to something the vehicle can understand and sends the resulting data
• to the vehicle.
• Note that this method is called from the kernel executor and thus should not block.
• @param cmd The command to be sent.
• @throws IllegalArgumentException If there was a problem with interpreting the command or
• communicating it to the vehicle.
  */
  public abstract void sendCommand(MovementCommand cmd)
  throws IllegalArgumentException, InterruptedException;

[swltr]

sendCommand() is supposed to only do that: send a single command to the vehicle (in a way that the vehicle understands).

Maybe looking at a reference implementation helps - see e.g. the VDA5050 driver's source code at https://github.com/openTCS/opentcs-commadapter-vda5050/tree/master/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1.

[1124415460]

sendCommand()应该只这样做：向车辆发送单个命令（以车辆理解的方式）。

也许查看参考实现会有所帮助 - 例如，请参阅 https://github.com/openTCS/opentcs-commadapter-vda5050/tree/master/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1 VDA5050驱动程序的源代码。

May I ask if there is a listener? I hope that when the vehicle is connected to my adapter, the listener can be turned on to obtain the information of the vehicle in reality, including its position, battery level, Angle and other data, and assign them to the tcs model
@swltr

[swltr]

In the VDA5050 driver, incoming messages are handled in CommAdapterImpl.onIncomingMessage(). You could do it in a similar way in your own driver.