fix(vehicle): 持久化车辆驱动配置

- 车辆注册时将驱动配置序列化并存库，重启后可恢复连接
- 移除车辆未注册时的异常抛出，避免离线车辆干扰调度

Author: LeonDev1024

opentcs-applications/opentcs-vehicle/src/main/java/org/opentcs/vehicle/application/VehicleApplicationService.java

@@ -26,6 +26,7 @@
 import org.opentcs.vehicle.persistence.entity.VehicleEntity;
 import org.opentcs.vehicle.persistence.service.VehicleRepository;
 
+import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
@@ -53,6 +54,7 @@ public class VehicleApplicationService {
     private final VehicleRepository vehicleService;
     private final VehicleRegistry vehicleRegistry;
     private final TransportOrderRegistry orderRegistry;
+    private final ObjectMapper objectMapper;
     private final OrderLifecycleApi orderLifecycleApi;
     private final DriverRegistry driverRegistry;
     private final List<Map<String, Object>> opsActionRecords = new CopyOnWriteArrayList<>();
@@ -117,6 +119,14 @@ public boolean registerVehicle(VehicleBO command, DriverConfig driverConfig) {
 
         entity.setState("UNAVAILABLE");
         entity.setIntegrationLevel("TO_BE_UTILIZED");
+        // 持久化驱动配置（用于服务重启后恢复连接）
+        if (driverConfig != null) {
+            try {
+                entity.setProperties(objectMapper.writeValueAsString(driverConfig));
+            } catch (Exception e) {
+                log.warn("驱动配置序列化失败，将跳过持久化: {}", e.getMessage());
+            }
+        }
         vehicleService.save(entity);
 
         // 2. 注册到内核
@@ -125,7 +135,7 @@ public boolean registerVehicle(VehicleBO command, DriverConfig driverConfig) {
         kernelVehicle.updateState(VehicleState.UNAVAILABLE);
         vehicleRegistry.registerVehicleDomain(kernelVehicle);
 
-        // 3. 配置驱动连接（延迟连接）
+        // 3. 配置驱动连接
         if (driverConfig != null) {
             driverRegistry.registerVehicle(entity.getName(), driverConfig);
         }

opentcs-driver/opentcs-driver-adapter-vda5050/src/main/java/org/opentcs/driver/gateway/VehicleGatewayImpl.java

@@ -150,7 +150,8 @@ public void sendInstantAction(String vehicleId, InstantAction action) {
 
         DriverConfig config = vehicleConfigs.get(vehicleId);
         if (config == null) {
-            throw new IllegalArgumentException("车辆未注册: " + vehicleId);
+            //throw new IllegalArgumentException("车辆未注册: " + vehicleId);
+            return;
         }
 
         DriverAdapter adapter = adapters.get(config.getDriverType());