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bug修改，日志文件配置

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This commit is contained in:
李广豪
2022-03-20 21:41:49 +08:00
parent c8119c5bd0
commit 186a28bffc
11 changed files with 602 additions and 171 deletions
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122
6.program/wms-empty/src/main/java/com/mt/wms/empty/controller/EnergyController.java
View File

@@ -24,6 +24,7 @@ import org.springframework.web.bind.annotation.RestController;
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import javax.validation.groups.Default;
import java.math.BigDecimal;
import java.time.DayOfWeek;
import java.time.LocalDate;
import java.time.LocalDateTime;
@@ -79,6 +80,8 @@ public class EnergyController extends BaseController {
private KilnInfoServiceBiz kilnInfoServiceBiz;
@Autowired
private CurrTaskServiceBiz currTaskServiceBiz;
@Autowired
private TaskHisServiceBiz taskHisServiceBiz;
@PostMapping(value = "eletric")
@ApiOperation(value = "根据窑炉id获取消耗情况")
@@ -215,8 +218,7 @@ public class EnergyController extends BaseController {
@PostMapping(value = "energyList")
@ApiOperation(value = "根据加工炉id获取能源消耗情况")
public R<String> energyList(@Validated({Default.class}) @RequestBody ElectricQueryParam electricQueryParam){
electricQueryParam.getTaskId();
CurrTask currTask = currTaskServiceBiz.getById(electricQueryParam.getTaskId());
TaskHis currTask = taskHisServiceBiz.getById(electricQueryParam.getTaskId());
Long kilnId = currTask.getKilnId();
KilnInfo kilnInfo = kilnInfoServiceBiz.getById(kilnId);
Integer kilnType = kilnInfo.getType();
@@ -224,25 +226,33 @@ public class EnergyController extends BaseController {
JSONObject jsonObject=new JSONObject();
ConsumeDataVo consumeDataVo=ConsumeDataVo.builder().build();
Map map=new HashMap();
Map<String,Object> map=new HashMap<>();
//电能消耗
List<ParEleValue> parEleValueList = parEleValueServiceBiz.list(new QueryWrapper<ParEleValue>()
.eq(ParEleValue.KILN_ID, kilnId)
.eq(ParEleValue.TASK_ID, electricQueryParam.getTaskId()));
if (parEleValueList.size()>0){
List eleList=new ArrayList();
List<Object> eleList=new ArrayList<>();
//电能消耗
List eleConsume=new ArrayList<>();
List<Object> eleConsume=new ArrayList<>();
//A向电压
List aVolConsume=new ArrayList<>();
List<Object> aVolConsume=new ArrayList<>();
//B向电压
List bVolConsume=new ArrayList<>();
List<Object> bVolConsume=new ArrayList<>();
//C向电压
List cVolConsume=new ArrayList<>();
List<Object> cVolConsume=new ArrayList<>();
Float talBat=0F;
int i=0;
for (ParEleValue parEleValue:parEleValueList
) {
//首位置为0
if (i==0){
talBat=parEleValue.getTotalBat();
}
i++;
map.put("time",parEleValue.getCreateTime());
map.put("value",parEleValue.getTotalBat());
map.put("value",floatSubtract(parEleValue.getTotalBat(),talBat));
map.put("name","耗电量");
map.put("unit","KW");
eleConsume.add(JSONObject.toJSON(map));
@@ -278,37 +288,50 @@ public class EnergyController extends BaseController {
.eq(ParEleValue.TASK_ID, electricQueryParam.getTaskId()));
if (parGasValueList.size()>0){
if (kilnType==1){
List gasList=new ArrayList();
List<Object> gasList=new ArrayList<>();
//氮气
List nitConsume=new ArrayList<>();
List<Object> nitConsume=new ArrayList<>();
Float nit=0F;
//甲醇
List metConsume=new ArrayList<>();
List<Object> metConsume=new ArrayList<>();
Float met=0F;
//丙烷
List propaneConsume=new ArrayList<>();
List<Object> propaneConsume=new ArrayList<>();
Float propane=0F;
//氨气
List ammoniaConsume=new ArrayList<>();
List<Object> ammoniaConsume=new ArrayList<>();
Float ammonia=0F;
int i=0;
for (ParGasValue parGasValue:parGasValueList
) {
//累计值的量首位置为0
if (i==0){
nit=parGasValue.getNitFlowValue();
met=parGasValue.getMethanolFlow();
propane=parGasValue.getPropaneFlow();
ammonia=parGasValue.getAmmoniaFlowValue();
}
i++;
map.put("time",parGasValue.getCreateTime());
map.put("value",parGasValue.getNitFlowValue());
map.put("value",floatSubtract(parGasValue.getNitFlowValue(),nit));
map.put("name","氮气");
map.put("unit","m³");
nitConsume.add(JSONObject.toJSON(map));
map.clear();
map.put("time",parGasValue.getCreateTime());
map.put("value",parGasValue.getMethanolFlow());
map.put("value",floatSubtract(parGasValue.getMethanolFlow(),met));
map.put("name","甲醇");
map.put("unit","m³");
metConsume.add(JSONObject.toJSON(map));
map.clear();
map.put("time",parGasValue.getCreateTime());
map.put("value",parGasValue.getPropaneFlow());
map.put("value",floatSubtract(parGasValue.getPropaneFlow(),propane));
map.put("name","丙烷");
map.put("unit","m³");
propaneConsume.add(JSONObject.toJSON(map));
map.clear();
map.put("time",parGasValue.getCreateTime());
map.put("value",parGasValue.getAmmoniaFlowValue());
map.put("value",floatSubtract(parGasValue.getAmmoniaFlowValue(),ammonia));
map.put("name","氨气");
map.put("unit","m³");
ammoniaConsume.add(JSONObject.toJSON(map));
@@ -321,29 +344,40 @@ public class EnergyController extends BaseController {
jsonObject.put("gas",gasList);
}
if (kilnType==3){
List gasList=new ArrayList();
List<Object> gasList=new ArrayList<>();
//氮气
List nitConsume=new ArrayList<>();
List<Object> nitConsume=new ArrayList<>();
Float nit=0F;
//二氧化碳
List carbonConsume=new ArrayList<>();
List<Object> carbonConsume=new ArrayList<>();
Float carbon=0F;
//氨气
List ammoniaConsume=new ArrayList<>();
List<Object> ammoniaConsume=new ArrayList<>();
Float ammonia=0F;
int i=0;
for (ParGasValue parGasValue:parGasValueList
) {
//累计值的量首位置为0
if (i==0){
nit=parGasValue.getNitFlowValue();
carbon=parGasValue.getCarDioxideFlowValue();
ammonia=parGasValue.getAmmoniaFlowValue();
}
i++;
map.put("time",parGasValue.getCreateTime());
map.put("value",parGasValue.getNitFlowValue());
map.put("value",floatSubtract(parGasValue.getNitFlowValue(),nit));
map.put("name","氮气");
map.put("unit","m³");
nitConsume.add(JSONObject.toJSON(map));
map.clear();
map.put("time",parGasValue.getCreateTime());
map.put("value",parGasValue.getCarDioxideFlowValue());
map.put("value",floatSubtract(parGasValue.getCarDioxideFlowValue(),carbon));
map.put("name","二氧化碳");
map.put("unit","m³");
carbonConsume.add(JSONObject.toJSON(map));
map.clear();
map.put("time",parGasValue.getCreateTime());
map.put("value",parGasValue.getAmmoniaFlowValue());
map.put("value",floatSubtract(parGasValue.getAmmoniaFlowValue(),ammonia));
map.put("name","氨气");
map.put("unit","m³");
ammoniaConsume.add(JSONObject.toJSON(map));
@@ -361,9 +395,9 @@ public class EnergyController extends BaseController {
.eq(ParEleValue.TASK_ID, electricQueryParam.getTaskId()));
if (parRotSpeedValueList.size()>0){
if (kilnType==1){
List rotList=new ArrayList();
List rot1Consume=new ArrayList<>();
List rot2Consume=new ArrayList<>();
List<Object> rotList=new ArrayList<>();
List<Object> rot1Consume=new ArrayList<>();
List<Object> rot2Consume=new ArrayList<>();
for (ParRotSpeedValue parRotSpeedValue:parRotSpeedValueList
) {
map.put("time",parRotSpeedValue.getCreateTime());
@@ -390,11 +424,11 @@ public class EnergyController extends BaseController {
.eq(ParEleValue.TASK_ID, electricQueryParam.getTaskId()));
if (parTemValueList.size()>0){
if (kilnType==1){
List tempList=new ArrayList();
List actualTempConsume=new ArrayList<>();
List setupTempConsume=new ArrayList<>();
List actualOilTempConsume=new ArrayList<>();
List setupOilTempConsume=new ArrayList<>();
List<Object> tempList=new ArrayList<>();
List<Object> actualTempConsume=new ArrayList<>();
List<Object> setupTempConsume=new ArrayList<>();
List<Object> actualOilTempConsume=new ArrayList<>();
List<Object> setupOilTempConsume=new ArrayList<>();
for (ParTemValue parTemValue:parTemValueList
) {
map.put("time",parTemValue.getCreateTime());
@@ -429,9 +463,9 @@ public class EnergyController extends BaseController {
jsonObject.put("temp",tempList);
}
if (kilnType==2){
List tempList=new ArrayList();
List actualTempConsume=new ArrayList<>();
List setupTempConsume=new ArrayList<>();
List<Object> tempList=new ArrayList<>();
List<Object> actualTempConsume=new ArrayList<>();
List<Object> setupTempConsume=new ArrayList<>();
for (ParTemValue parTemValue:parTemValueList
) {
map.put("time",parTemValue.getCreateTime());
@@ -453,11 +487,11 @@ public class EnergyController extends BaseController {
}
if (kilnType==3){
List tempList=new ArrayList();
List actualTempConsume=new ArrayList<>();
List setupTempConsume=new ArrayList<>();
List outerZone1TempConsume=new ArrayList<>();
List outerZone2TempConsume=new ArrayList<>();
List<Object> tempList=new ArrayList<>();
List<Object> actualTempConsume=new ArrayList<>();
List<Object> setupTempConsume=new ArrayList<>();
List<Object> outerZone1TempConsume=new ArrayList<>();
List<Object> outerZone2TempConsume=new ArrayList<>();
for (ParTemValue parTemValue:parTemValueList
) {
map.put("time",parTemValue.getCreateTime());
@@ -479,6 +513,7 @@ public class EnergyController extends BaseController {
outerZone1TempConsume.add(JSONObject.toJSON(map));
map.clear();
map.put("time",parTemValue.getCreateTime());
map.put("value",parTemValue.getOuterZone2Temp());
map.put("name","外二区温度");
map.put("unit","℃");
@@ -494,5 +529,10 @@ public class EnergyController extends BaseController {
}
return R.ok(jsonObject.toJSONString());
}
private Float floatSubtract(Float a,Float b){
BigDecimal a1 = new BigDecimal(Float.toString(a));
BigDecimal b1 = new BigDecimal(Float.toString(b));
return a1.subtract(b1).floatValue();
}
}

2
6.program/wms-empty/src/main/java/com/mt/wms/empty/service/impl/StockInfoServiceImpl.java
View File

@@ -42,7 +42,7 @@ public class StockInfoServiceImpl extends BaseService implements StockInfoServic
private OrderInfoServiceBiz orderInfoServiceBiz;
@Override
public R<List<CurrTaskDetVo>> get(IdParam idParam) {
Long taskId = inStockInfoServiceBiz.getById(idParam).getTaskId();
Long taskId = inStockInfoServiceBiz.getOne(new QueryWrapper<InStockInfo>().eq(InStockInfo.LOCATION_ID,idParam.getId())).getTaskId();
List<CurrTaskDet> currTaskDetList = currTaskDetServiceBiz.list(new QueryWrapper<CurrTaskDet>().eq("curr_task_id", taskId));
List<CurrTaskDetVo> currTaskDetVoList = com.mt.wms.core.utils.BeanUtils.copyList(currTaskDetList, CurrTaskDetVo.class);
for (CurrTaskDetVo currTaskDetVo:currTaskDetVoList

48
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java
View File

@@ -109,7 +109,6 @@ public class AsynRunTaskService extends BaseService {
runTask.setVehicleId(vehicleId);
runTask.setStartPosition(currTask.getStartPosition());
runTask.setEndPosition(currTask.getTargetPosition());
setCommonField(runTask);
runTask.setBeginTime(LocalDateTime.now());
runTaskServiceBiz.save(runTask);
//调用车辆填入起终点,得到车辆执行结果
@@ -149,6 +148,7 @@ public class AsynRunTaskService extends BaseService {
Location location = locationServiceBiz.getById(inStockInfo.getLocationId());
Long currTaskId = inStockInfo.getTaskId();
CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
VehicleInfo vehicle = vehicleInfoServiceBiz.getById(vehicleId);
if (vehicleId==1){
//获取RGV2当前位置
Double rgv2CurrPosition = RGVCurrPosition(2);
@@ -186,7 +186,6 @@ public class AsynRunTaskService extends BaseService {
// 起点为库位
runTask.setStartPosition(location.getCode());
runTask.setEndPosition(currTask.getTargetPosition());
setCommonField(runTask);
runTask.setBeginTime(LocalDateTime.now());
runTaskServiceBiz.save(runTask);
//修改缓存区存储情况表状态
@@ -216,6 +215,9 @@ public class AsynRunTaskService extends BaseService {
currTask.setRunTaskId(runTask.getId());
currTask.setUpdateTime(LocalDateTime.now());
currTaskServiceBiz.updateById(currTask);
//更新小车状态
vehicle.setStatus(0);
vehicleInfoServiceBiz.updateById(vehicle);
}else {
runTask.setStatus(3);
runTask.setUpdateTime(LocalDateTime.now());
@@ -264,7 +266,6 @@ public class AsynRunTaskService extends BaseService {
}
//新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
RunTask runTask=new RunTask();
setCommonField(runTask);
runTask.setTaskId(currTask.getId());
runTask.setTaskCode(currTask.getTaskCode());
runTask.setVehicleId(vehicleId);
@@ -284,7 +285,7 @@ public class AsynRunTaskService extends BaseService {
inStockInfo.setLocationId(location.getId());
inStockInfo.setLocationName(location.getLocationNameAlias());
inStockInfo.setType(1);
setCommonField(inStockInfo);
inStockInfo.setCreateTime(LocalDateTime.now());
inStockInfoServiceBiz.save(inStockInfo);
// 调用车辆填入起终点,得到车辆执行结果,填入任务号（待确认）
Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
@@ -299,6 +300,7 @@ public class AsynRunTaskService extends BaseService {
runTaskServiceBiz.updateById(runTask);
//更新currTask表
currTask.setCacheSatatus(2);
currTask.setStatus(3);
currTask.setUpdateTime(LocalDateTime.now());
currTaskServiceBiz.updateById(currTask);
//更新in_stock_info表
@@ -355,7 +357,6 @@ public class AsynRunTaskService extends BaseService {
}
//新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
RunTask runTask=new RunTask();
setCommonField(runTask);
runTask.setTaskId(currTask.getId());
runTask.setTaskCode(currTask.getTaskCode());
runTask.setVehicleId(vehicleId);
@@ -380,8 +381,7 @@ public class AsynRunTaskService extends BaseService {
inStockInfo.setKilnName(currTask.getKilnName());
inStockInfo.setLocationId(location.getId());
inStockInfo.setLocationName(location.getLocationNameAlias());
inStockInfo.setType(0);
setCommonField(inStockInfo);
inStockInfo.setCreateTime(LocalDateTime.now());
inStockInfoServiceBiz.save(inStockInfo);
// 2021/12/14 调用车辆填入起终点,得到车辆执行结果,填入任务号
Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
@@ -426,7 +426,7 @@ public class AsynRunTaskService extends BaseService {
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv2CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(2, 1L, 39);
Integer status = moveRgv(2, 1L, 1);
if (status!=1){
logger.info("===执行出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位39，执行失败===");
// 2022/3/6 websocket通知页面
@@ -441,7 +441,7 @@ public class AsynRunTaskService extends BaseService {
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), yeyaTaiCode, rgv1CurrPosition);
if (conflictBoolean){
Integer status = moveRgv(1, 1L, 1);
Integer status = moveRgv(1, 1L, 12);
if (status!=1){
logger.info("===执行任务出库任务时车辆位置冲突，执行车辆位移任务，车辆"+vehicleId+"移动到点位1，执行失败===");
// 2022/3/6 websocket通知页面
@@ -452,7 +452,7 @@ public class AsynRunTaskService extends BaseService {
}
}
RunTask runTask=new RunTask();
setCommonField(runTask);
// setCommonField(runTask);
runTask.setVehicleId(vehicleId);
runTask.setBeginTime(LocalDateTime.now());
runTask.setStartPosition(location.getCode());
@@ -470,7 +470,7 @@ public class AsynRunTaskService extends BaseService {
Integer status = sendTaskToRgv(vehicleId, 0L, startPoint, endPoint, 0);
if (status==1){
logger.info("===执行任务出库任务，车辆搬运任务，车辆："+vehicleId+" ，起点："+startPoint+" ,终点："+endPoint+"任务执行成功===");
//更新关系表状态为完成
//更新调度任务表状态为完成
runTask.setUpdateTime(LocalDateTime.now());
runTask.setStatus(2);
runTask.setEndTime(LocalDateTime.now());
@@ -487,13 +487,17 @@ public class AsynRunTaskService extends BaseService {
//更新库位状态
location.setStatus(0);
locationServiceBiz.updateById(location);
//更新车辆状态
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
vehicleInfo.setStatus(0);
vehicleInfoServiceBiz.updateById(vehicleInfo);
}else {
runTask.setStatus(3);
runTask.setUpdateTime(LocalDateTime.now());
runTaskServiceBiz.updateById(runTask);
logger.info("任务 "+runTask.getTaskCode()+" 车辆从缓存区到提升平台过程中失败。");
logger.info("===执行任务出库任务，车辆搬运任务，车辆："+vehicleId+" ，起点："+startPoint+" ,终点："+endPoint+"任务执行失败===");
System.out.println("===执行任务出库任务，车辆搬运任务，车辆："+vehicleId+" ，起点："+startPoint+" ,终点："+endPoint+"任务执行失败===");
// 2021/12/14 websocket推送到前端
webSocketServer.sendtoAll("出库任务车辆从缓存区到提升平台过程中失败。");
}
@@ -896,7 +900,7 @@ public class AsynRunTaskService extends BaseService {
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("能源消耗统计：获取 "+identifier+" 的值失败");
@@ -921,12 +925,13 @@ public class AsynRunTaskService extends BaseService {
}
String result = null;
try {
result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取RGV1的当前位置失败");
}
return Double.valueOf(JSONObject.parseObject(result).get("result").toString());
Double value = Double.valueOf(JSONObject.parseObject(result).get("result").toString());
return value*0.0001;
}
/**
@@ -942,16 +947,21 @@ public class AsynRunTaskService extends BaseService {
Map<String, Integer> json = new HashMap();
//type=1为 入
// taskType 4 单移动
json.put("taskType", 4);
json.put("sendRow", sendRow);
json.put("pickRow",0);
json.put("taskNo",1);
json.put("ideNumber",1);
json.put("processNumber",1);
String taskJson = JSON.toJSONString(json);
logger.info("===执行任务："+currTaskId+" 时车辆位置冲突，即将执行车辆位移任务，车辆"+vehicleId+"移动到点位"+sendRow+"===");
String result =null;
try {
if (vehicleId==1){
result=HttpClient.httpPost("http://localhost:8009/rgv2/sendTask",taskJson);
result=HttpClient.httpPost("http://192.168.6.51:8009/rgv1/sendTask",taskJson);
}else {
result=HttpClient.httpPost("http://localhost:8009/rgv1/sendTask",taskJson);
result=HttpClient.httpPost("http://192.168.6.51:8009/rgv2/sendTask",taskJson);
}
JSONObject jsonObject = JSON.parseObject(result);
@@ -987,10 +997,10 @@ public class AsynRunTaskService extends BaseService {
logger.info("===执行任务："+currTaskId+" ，即将执行车辆搬运任务，车辆："+vehicleId+" ，起点："+startPoint+" ,终点："+endPoint+"===");
try {
if (vehicleId==1){
result = HttpClient.httpPost("http://localhost:8009/rgv1/sendTask", taskJson);
result = HttpClient.httpPost("http://192.168.6.51:8009/rgv1/sendTask", taskJson);
}
if (vehicleId==2){
result = HttpClient.httpPost("http://localhost:8009/rgv2/sendTask", taskJson);
result = HttpClient.httpPost("http://192.168.6.51:8009/rgv2/sendTask", taskJson);
}
} catch (IOException e) {
e.printStackTrace();

119
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java
View File

@@ -66,18 +66,23 @@ public class RunTaskUtils {
//起点,起点和终点是液压台code、窑炉code、缓存区code
String startPosition = currTask.getStartPosition();
PointInfo startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, startPosition));
// 可以根据点位类型判断起点是否为液压台
// 可以根据点位类型判断起点是否为液压台(2是液压台)
Integer startPointType = startPoint.getType();
if (startPointType==3){
if (startPointType==2){
Map<String, Object> yeya = new HashMap();
//type=1为 入
yeya.put("type", 1);
yeya.put("number", startPoint.getCode());
if ("YYT003".equals(startPoint.getNote())){
yeya.put("number", 2);
}
if ("YYT004".equals(startPoint.getNote())){
yeya.put("number", 1);
}
String yeyaJudgeStatus = JSON.toJSONString(yeya);
//判断起点液压台是否已放货且提升到位
String yeyaStatus=null;
try {
yeyaStatus = HttpClient.httpPost("http://localhost:8009/yeya/isReadyForYeyaStatus", yeyaJudgeStatus);
yeyaStatus = HttpClient.httpPost("http://192.168.6.51:8009/yeya/isReadyForYeyaStatus", yeyaJudgeStatus);
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
@@ -108,6 +113,9 @@ public class RunTaskUtils {
if (resultBoolean){
//计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), currTask.getTargetPosition());
if (vehicleId==0){
return R.failed("两辆车都不在线，请检查后重试！");
}
//占用车辆
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
vehicleInfo.setStatus(1);
@@ -130,7 +138,7 @@ public class RunTaskUtils {
if (count >0) {
//分配一个缓存区库位
Location location = locationServiceBiz.list(new QueryWrapper<Location>()
.eq(Location.STATUS, 1)
.eq(Location.STATUS, 0)
.eq(Location.VALID, 1)).get(0);
//更新 location 表对应库位状态为占用
location.setStatus(1);
@@ -140,6 +148,9 @@ public class RunTaskUtils {
PointInfo pointInfo = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, location.getCode()));
//计算出路径最短的车辆id,起点液压台，终点缓存区库位点
Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), location.getCode());
if (vehicleId==0){
return R.failed("两辆车都不在线，请检查后重试！");
}
//占用车辆
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
vehicleInfo.setStatus(1);
@@ -233,6 +244,9 @@ public class RunTaskUtils {
//窑炉为起点,缓存区为终点
Location location = locationList.get(0);
Long vehicleId = taskDistanceUtils.chooseVehicle(kilnInfo.getCode(), location.getCode());
if (vehicleId==0){
return R.failed("两辆车都不在线，请检查后重试！");
}
//占用车辆
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
vehicleInfo.setStatus(1);
@@ -267,8 +281,17 @@ public class RunTaskUtils {
//有小车在运行，提示当前有车辆在运行，请稍后
return R.failed("当前轨道有RGV车辆在运动，请等待当前RGV车辆执行完毕再执行任务！");
}
Boolean platFormStatus = platFormStatus(yeyaTaiCode);
if (!platFormStatus){
// TODO: 2022/3/19 delete
System.out.println("当前选定的液压台为在线或未提升到位，请检查后重试！");
return R.failed("当前选定的液压台为在线或未提升到位，请检查后重试！");
}
//计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(location.getCode(), yeyaTaiCode);
if (vehicleId==0){
return R.failed("两辆车都不在线，请检查后重试！");
}
//占用车辆
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
vehicleInfo.setStatus(1);
@@ -276,6 +299,8 @@ public class RunTaskUtils {
vehicleInfoServiceBiz.updateById(vehicleInfo);
//异步调用车辆
asynRunTaskService.asynRunOutStock(locationId,yeyaTaiCode,vehicleInfo.getId());
// TODO: 2022/3/19
System.out.println("操作成功，任务已开始执行。");
return R.ok("操作成功，任务已开始执行。");
}
@@ -293,7 +318,7 @@ public class RunTaskUtils {
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("readPLC： "+identifier+" 的值失败");
@@ -301,4 +326,86 @@ public class RunTaskUtils {
return result;
}
/**
* 判断液压台是否准备好放货
* @param platFormCode 液压台编码
* @return 是/否
*/
private Boolean platFormStatus(String platFormCode){
String identifier=null;
if ("YYT001".equals(platFormCode)){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform4ToWCS.";
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier+"Online");
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取液压台1当前是否在线失败");
}
Boolean aBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
if (aBoolean){
Map<String, Object> statusJson = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier+"TaskState");
String statusResult = null;
try {
statusResult = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(statusJson));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取液压台1当前状态失败");
}
Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString());
if (status==1){
return true;
}else {
return false;
}
}else {
return false;
}
}
if ("YYT002".equals(platFormCode)){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform3ToWCS.";
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier+"Online");
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取液压台2当前是否在线失败");
}
Boolean aBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
if (aBoolean){
Map<String, Object> statusJson = new HashMap();
statusJson.put("nameSpace", 6);
statusJson.put("plcName", "plc1");
statusJson.put("identifier",identifier+"TaskState");
String statusResult = null;
try {
statusResult = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(statusJson));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取液压台2当前状态失败");
}
Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString());
if (status==1){
return true;
}else {
return false;
}
}else {
return false;
}
}
return false;
}
}

158
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/ScheduledTask.java
View File

@@ -15,6 +15,7 @@ import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.io.IOException;
@@ -28,6 +29,7 @@ import java.util.Map;
* @Date: 2021/12/13 19:54
* @Version 1.0
*/
@Component
public class ScheduledTask extends BaseService {
private final static Logger logger = LoggerFactory.getLogger(AsynRunTaskService.class);
@@ -65,7 +67,6 @@ public class ScheduledTask extends BaseService {
@Resource
private WebSocketServer webSocketServer;
@Scheduled(fixedDelay = 5000)
public void testWebsocket() throws IOException {
webSocketServer.sendtoAll(LocalDateTime.now()+"测试");
}
@@ -73,7 +74,6 @@ public class ScheduledTask extends BaseService {
/**
* 查询加工完成的窑炉
*/
@Scheduled
public void taskForStockToKiln() throws IOException {
//两辆车是否都空闲，只有两辆车都空闲才被允许做任务
List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 0));
@@ -105,23 +105,24 @@ public class ScheduledTask extends BaseService {
}
//查询出正在加工的窑炉，遍历，根据采集频率的不同，采集高频数据能源消耗。
//查询出正在加工的窑炉，遍历，根据采集频率的不同，采集高频数据能源消耗。暂定30秒
//@Scheduled(fixedDelay = 1000*30)
public void getFastValue(){
//加工炉列表
List<KilnInfo> kilnInfoList = kilnInfoServiceBiz.list(new QueryWrapper<KilnInfo>().in(KilnInfo.TYPE,1,3));
for (KilnInfo kilnInfo:kilnInfoList
) {
PlcNameSpace nameSpace = plcNameSpaceServiceBiz.getOne(new QueryWrapper<PlcNameSpace>()
.eq(PlcNameSpace.EQ_TYPE, 1)
.eq(PlcNameSpace.EQ_TYPE, 0)
.eq(PlcNameSpace.EQ_ID, kilnInfo.getId())
.eq(PlcNameSpace.TYPE,1));
.eq(PlcNameSpace.TYPE,0));
String nameSpaceNote = nameSpace.getName();
String result = readPlcToString(nameSpaceNote, "Working");
Boolean resultBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
//该炉子在工作中
if (resultBoolean){
Long kilnId = kilnInfo.getId();
String identificationNumber = readPlcToString(nameSpaceNote, "Identification number");
String identificationNumber = readPlcToString(nameSpaceNote, "DischargeIdentNumber");
Long currTaskId = Long.valueOf(JSONObject.parseObject(identificationNumber).get("result").toString());
//加工炉
if (kilnInfo.getType()==1){
@@ -134,7 +135,7 @@ public class ScheduledTask extends BaseService {
parRotSpeedValue.setOilStiSpeedAValue(oilStirringSpeed2.floatValue());
parRotSpeedValue.setKilnId(kilnId);
parRotSpeedValue.setTaskId(currTaskId);
setCommonField(parRotSpeedValue);
parRotSpeedValue.setCreateTime(LocalDateTime.now());
parRotSpeedValueServiceBiz.save(parRotSpeedValue);
//氮气
Double nitrogenFlow = readPlc(nameSpaceNote, "NitrogenFlow");
@@ -157,7 +158,7 @@ public class ScheduledTask extends BaseService {
parGasValue.setSetNitPotValue(setupCarbon.floatValue());
parGasValue.setKilnId(kilnId);
parGasValue.setTaskId(currTaskId);
setCommonField(parGasValue);
parGasValue.setCreateTime(LocalDateTime.now());
parGasValueServiceBiz.save(parGasValue);
}
//氮化炉
@@ -175,7 +176,7 @@ public class ScheduledTask extends BaseService {
//氮气量
Double nitrogenFlow=readPlc(nameSpaceNote,"NitrogenFlow");
//二氧化碳量
Double carbonDioxideFlow = readPlc(nameSpaceNote, "CarbonDioxideFlow");
Double carbonDioxideFlow = readPlc(nameSpaceNote, "CO2Flow");
ParGasValue parGasValue3=new ParGasValue();
parGasValue3.setNitFlowValue(nitrogenFlow.floatValue());
parGasValue3.setAmmoniaFlowValue(ammoniaFlow.floatValue());
@@ -185,27 +186,29 @@ public class ScheduledTask extends BaseService {
parGasValue3.setDecompositionRate(decompositionRate.floatValue());
parGasValue3.setKilnId(kilnId);
parGasValue3.setTaskId(currTaskId);
setCommonField(parGasValue3);
parGasValue3.setCreateTime(LocalDateTime.now());
parGasValueServiceBiz.save(parGasValue3);
}
}
}
}
//查询出正在加工的窑炉，遍历，根据采集频率的不同，采集低频数据能源消耗。
//查询出正在加工的窑炉，遍历，根据采集频率的不同，采集低频数据能源消耗。暂定3分钟一次
//@Scheduled(fixedDelay = 1000*60*3)
public void getSlowValue(){
System.out.println("开始采集数据");
List<KilnInfo> kilnInfoList = kilnInfoServiceBiz.list();
for (KilnInfo kilnInfo:kilnInfoList
) {
PlcNameSpace nameSpace = plcNameSpaceServiceBiz.getOne(new QueryWrapper<PlcNameSpace>()
.eq(PlcNameSpace.EQ_TYPE, 1)
.eq(PlcNameSpace.EQ_TYPE, 0)
.eq(PlcNameSpace.EQ_ID, kilnInfo.getId())
.eq(PlcNameSpace.TYPE,1));
.eq(PlcNameSpace.TYPE,0));
String nameSpaceNote = nameSpace.getName();
String result = readPlcToString(nameSpaceNote, "Working");
Boolean resultBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
if (resultBoolean){
Long kilnId = kilnInfo.getId();
String identificationNumber = readPlcToString(nameSpaceNote, "Identification number");
String identificationNumber = readPlcToString(nameSpaceNote, "DischargeIdentNumber");
Long currTaskId = Long.valueOf(JSONObject.parseObject(identificationNumber).get("result").toString());
//加工炉
if (kilnInfo.getType()==1){
@@ -224,7 +227,7 @@ public class ScheduledTask extends BaseService {
parTemValue.setOilTankActTemValue(actualOilTemp.floatValue());
parTemValue.setKilnId(kilnId);
parTemValue.setTaskId(currTaskId);
setCommonField(parTemValue);
parTemValue.setCreateTime(LocalDateTime.now());
parTemValueServiceBiz.save(parTemValue);
//电度值
Double electricalValue = readPlc(nameSpaceNote,"ElectricalValue");
@@ -239,7 +242,7 @@ public class ScheduledTask extends BaseService {
parEleValue.setTotalBat(electricalValue.floatValue());
parEleValue.setKilnId(kilnId);
parEleValue.setTaskId(currTaskId);
setCommonField(parEleValue);
parEleValue.setCreateTime(LocalDateTime.now());
parEleValueServiceBiz.save(parEleValue);
}
//回火炉
@@ -253,14 +256,14 @@ public class ScheduledTask extends BaseService {
parTemValue2.setActTemValue(actualTemp.floatValue());
parTemValue2.setKilnId(kilnId);
parTemValue2.setTaskId(currTaskId);
setCommonField(parTemValue2);
parTemValue2.setCreateTime(LocalDateTime.now());
parTemValueServiceBiz.save(parTemValue2);
//电度值
Double electricalValue = readPlc(nameSpaceNote,"TotalElectricity");
//A向电压
Double phaseAVoltage = readPlc(nameSpaceNote,"PhaseAVoltage");
Double phaseBVoltage = readPlc(nameSpaceNote, "PhaseBVoltage");
Double phaseCVoltage = readPlc(nameSpaceNote, "PhaseCVoltage");
Double phaseAVoltage = readPlc(nameSpaceNote,"AVoltage");
Double phaseBVoltage = readPlc(nameSpaceNote, "BVoltage");
Double phaseCVoltage = readPlc(nameSpaceNote, "CVoltage");
ParEleValue parEleValue2=new ParEleValue();
parEleValue2.setAVoltagevValue(phaseAVoltage.floatValue());
parEleValue2.setAVoltagevValue(phaseBVoltage.floatValue());
@@ -268,7 +271,7 @@ public class ScheduledTask extends BaseService {
parEleValue2.setTotalBat(electricalValue.floatValue());
parEleValue2.setKilnId(kilnId);
parEleValue2.setTaskId(currTaskId);
setCommonField(parEleValue2);
parEleValue2.setCreateTime(LocalDateTime.now());
parEleValueServiceBiz.save(parEleValue2);
}
//氮化炉
@@ -291,7 +294,7 @@ public class ScheduledTask extends BaseService {
parTemValue3.setFurnacePressure(furnacePressure.floatValue());
parTemValue3.setKilnId(kilnId);
parTemValue3.setTaskId(currTaskId);
setCommonField(parTemValue3);
parTemValue3.setCreateTime(LocalDateTime.now());
parTemValueServiceBiz.save(parTemValue3);
//电度值
Double electricalValue = readPlc(nameSpaceNote,"ElectricalValue");
@@ -306,7 +309,7 @@ public class ScheduledTask extends BaseService {
parEleValue3.setTotalBat(electricalValue.floatValue());
parEleValue3.setKilnId(kilnId);
parEleValue3.setTaskId(currTaskId);
setCommonField(parEleValue3);
parEleValue3.setCreateTime(LocalDateTime.now());
parEleValueServiceBiz.save(parEleValue3);
}
//清洗炉
@@ -314,9 +317,9 @@ public class ScheduledTask extends BaseService {
//电度值
Double electricalValue = readPlc(nameSpaceNote,"TotalElectricity");
//A向电压
Double phaseAVoltage = readPlc(nameSpaceNote,"PhaseAVoltage");
Double phaseBVoltage = readPlc(nameSpaceNote, "PhaseBVoltage");
Double phaseCVoltage = readPlc(nameSpaceNote, "PhaseCVoltage");
Double phaseAVoltage = readPlc(nameSpaceNote,"AVoltage");
Double phaseBVoltage = readPlc(nameSpaceNote, "BVoltage");
Double phaseCVoltage = readPlc(nameSpaceNote, "CVoltage");
ParEleValue parEleValue4=new ParEleValue();
parEleValue4.setAVoltagevValue(phaseAVoltage.floatValue());
parEleValue4.setAVoltagevValue(phaseBVoltage.floatValue());
@@ -324,42 +327,56 @@ public class ScheduledTask extends BaseService {
parEleValue4.setTotalBat(electricalValue.floatValue());
parEleValue4.setKilnId(kilnId);
parEleValue4.setTaskId(currTaskId);
setCommonField(parEleValue4);
parEleValue4.setCreateTime(LocalDateTime.now());
parEleValueServiceBiz.save(parEleValue4);
}
}
}
System.out.println("采集完成");
}
//遍历窑炉，空窑炉查询缓存区是否有等待加工的任务，
//待加工任务存在且没有状态为正在进炉的情况下，按照先进先出的规则选择待加工任务呼叫车辆进炉
//@Scheduled(fixedDelay = 1000*10)
public void runTaskForEmptyKiln() throws IOException {
List<KilnInfo> kilnInfoList = kilnInfoServiceBiz.list(new QueryWrapper<KilnInfo>()
.eq(KilnInfo.VALID, 1).eq(KilnInfo.STATUS, 0));
// 呼叫车辆运送货物给炉子
//存在空闲窑炉
if (kilnInfoList.size()!=0){
//缓存去是否有目标位置为窑炉的待加工任务
KilnInfo kilnInfo = kilnInfoList.get(0);
List<InStockInfo> inStockInfoList = inStockInfoServiceBiz.list(new QueryWrapper<InStockInfo>()
.eq(InStockInfo.TYPE, 1)
.eq(InStockInfo.KILN_ID, kilnInfo.getId())
.orderByAsc(InStockInfo.IN_TIME));
if (inStockInfoList.size()>0){
InStockInfo inStockInfo = inStockInfoList.get(0);
CurrTask currTask = currTaskServiceBiz.getById(inStockInfo.getTaskId());
Location location = locationServiceBiz.getById(inStockInfo.getLocationId());
//是否有小车在运行
List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 1));
//两辆车同时空闲（其中一辆车在运行时，不能调度另一辆车，防止运行中路线冲突）
if (vehicleInfoList.size()==0){
//计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(location.getCode(), kilnInfo.getCode());
//占用车辆
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
vehicleInfo.setStatus(1);
vehicleInfo.setUpdateTime(LocalDateTime.now());
vehicleInfoServiceBiz.updateById(vehicleInfo);
asynRunTaskService.asynRunTaskForStockToKiln(inStockInfo.getId(),vehicleId);
if (kilnInfoList.size()!=0) {
for (KilnInfo kilnInfo:kilnInfoList
) {
//查询是否有车辆正在执行任务，如果有，等。（根据车辆是否正在运行可以避免出现前一个任务获取还没进去炉子，炉子状态依然为allowIn，从而继续发送任务的情况）
List<VehicleInfo> vehicleInfos = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 1));
if (vehicleInfos.size()>0){
return;
}
//查询炉子是否allowIn
Boolean kilnAllowIn = kilnAllowIn(kilnInfo.getId());
if (kilnAllowIn){
//缓存去是否有目标位置为窑炉的待加工任务
List<InStockInfo> inStockInfoList = inStockInfoServiceBiz.list(new QueryWrapper<InStockInfo>()
.eq(InStockInfo.TYPE, 1)
.eq(InStockInfo.KILN_ID, kilnInfo.getId())
.orderByAsc(InStockInfo.IN_TIME));
if (inStockInfoList.size() > 0) {
InStockInfo inStockInfo = inStockInfoList.get(0);
CurrTask currTask = currTaskServiceBiz.getById(inStockInfo.getTaskId());
Location location = locationServiceBiz.getById(inStockInfo.getLocationId());
//是否有小车在运行
List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 1));
//两辆车同时空闲（其中一辆车在运行时，不能调度另一辆车，防止运行中路线冲突）
if (vehicleInfoList.size() == 0) {
//计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(location.getCode(), kilnInfo.getCode());
//占用车辆
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
vehicleInfo.setStatus(1);
vehicleInfo.setUpdateTime(LocalDateTime.now());
vehicleInfoServiceBiz.updateById(vehicleInfo);
asynRunTaskService.asynRunTaskForStockToKiln(inStockInfo.getId(), vehicleId);
}
}
}
}
@@ -446,11 +463,12 @@ public class ScheduledTask extends BaseService {
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("readPLC： "+identifier+" 的值失败");
}
return result;
}
/**
@@ -467,7 +485,7 @@ public class ScheduledTask extends BaseService {
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("能源消耗统计：获取 "+identifier+" 的值失败");
@@ -475,32 +493,14 @@ public class ScheduledTask extends BaseService {
return Double.valueOf(JSONObject.parseObject(result).get("result").toString());
}
private Boolean rgvOnline(Long vehicleId) throws IOException {
VehicleInfo vehicleInfo = vehicleInfoServiceBiz.getById(vehicleId);
// TODO: 2022/3/19 小车的命名空间
String identifier=null;
if (vehicleId==1){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform4ToWCS.";
}
if (vehicleId==2){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform4ToWCS.";
}
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier+"Online");
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取小车1当前是否在线失败");
}
Boolean aBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
if (!aBoolean){
webSocketServer.sendtoAll(vehicleInfo.getVehicleName()+"当前不在线，请人工确认车辆状态，如不能恢复未在线状态，请尽快手动移动车辆到轨道尽头，以避免车辆阻碍任务执行！");
return false;
}
return true;
private Boolean kilnAllowIn(Long kilnId){
PlcNameSpace nameSpace = plcNameSpaceServiceBiz.getOne(new QueryWrapper<PlcNameSpace>()
.eq(PlcNameSpace.EQ_TYPE, 0)
.eq(PlcNameSpace.EQ_ID, kilnId)
.eq(PlcNameSpace.TYPE,0));
String nameSpaceNote = nameSpace.getName();
String result = readPlcToString(nameSpaceNote, "AllowIn");
return Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
}
}

82
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/TaskDistanceUtils.java
View File

@@ -4,6 +4,7 @@ import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.mt.wms.core.dal.entity.PointInfo;
import com.mt.wms.core.dal.entity.VehicleInfo;
import com.mt.wms.core.dal.service.PointInfoServiceBiz;
import com.mt.wms.core.utils.HttpClient;
import org.slf4j.Logger;
@@ -35,15 +36,47 @@ public class TaskDistanceUtils {
* @param endPoint 终点
* @return 路径最短的小车id
*/
public Long chooseVehicle(String startPoint,String endPoint){
Double startDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, startPoint)).getDistance();
public Long chooseVehicle(String startPoint,String endPoint) throws IOException {
//车辆是否在线，若不在线，返回在线的那一辆，都不在线返回0
if (!rgvOnline(1L)){
//液压台4 和 1号回火炉只能调用车辆1
if ("BMC1".equals(startPoint)||"BMC1".equals(endPoint)||"YYT004".equals(startPoint)||"YYT004".equals(endPoint)){
return 0L;
}
if (!rgvOnline(2L)){
return 0L;
}
return 2L;
}
if (!rgvOnline(2L)){
//3-4号回火炉只能调用车辆2
if ("BMC3".equals(startPoint)||"BMC3".equals(endPoint)||"BMC4".equals(startPoint)||"BMC4".equals(endPoint)){
return 0L;
}
if (!rgvOnline(1L)){
return 0L;
}
return 1L;
}
//3-4号回火炉只能调用车辆2
if ("BMC3".equals(startPoint)||"BMC3".equals(endPoint)||"BMC4".equals(startPoint)||"BMC4".equals(endPoint)){
return 2L;
}
//液压台4 和 1号回火炉只能调用车辆1
if ("BMC1".equals(startPoint)||"BMC1".equals(endPoint)||"YYT004".equals(startPoint)||"YYT004".equals(endPoint)){
return 1L;
}
Double startDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, startPoint)).getDistance();
// 2022/2/19 两辆小车都空闲，获取出当前位置
Double rgv1CurrPosition = RGVCurrPosition(1L);
Double rgv2CurrPosition = RGVCurrPosition(2L);
//计算空闲小车当前位置到起点的距离
Double vehicle1Distance = Math.abs(startDistance - rgv1CurrPosition);
Double vehicle2Distance = Math.abs(startDistance - rgv2CurrPosition);
return (vehicle1Distance< vehicle2Distance)?1L:2L;
return (vehicle1Distance < vehicle2Distance) ? 1L : 2L;
}
/**
* 计算执行任务的小车本次任务的剩余路径经过的点位集合
@@ -67,9 +100,12 @@ public class TaskDistanceUtils {
}
//判断小车是否冲突,传入选定小车的id,任务起终点,另一小车位置。
public Boolean conflictForVehicle(Long vehicleId,String startPoint,String endPoint,Double otherNowPosition){
Double startDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, startPoint)).getDistance();
Double endDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, endPoint)).getDistance();
public Boolean conflictForVehicle(Long vehicleId,String startPoint,String endPoint,Double otherNowPosition) throws IOException {
if (!rgvOnline(1L)||!rgvOnline(2L)){
return false;
}
Double startDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, startPoint)).getDistance();
Double endDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, endPoint)).getDistance();
//获取点位list
List<PointInfo> pointInfoList = pointInfoServiceBiz.list(new QueryWrapper<PointInfo>().orderByAsc(PointInfo.ID));
// 2022/2/19 获取小车当前位置
@@ -108,11 +144,41 @@ public class TaskDistanceUtils {
}
String result = null;
try {
result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取RGV的当前位置失败");
}
return Double.valueOf(JSONObject.parseObject(result).get("result").toString());
Double value = Double.valueOf(JSONObject.parseObject(result).get("result").toString());
return value*0.0001;
}
/**
* 车辆是否在线
* @param vehicleId 车辆id
* @return true/false
* @throws IOException plc访问失败
*/
private Boolean rgvOnline(Long vehicleId) throws IOException {
String identifier=null;
if (vehicleId==1){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online";
}
if (vehicleId==2){
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online";
}
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("获取车辆"+vehicleId+"当前是否在线失败");
}
Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return online;
}
}