From a002354d496d7584a0cd42a558bd3393d5292176 Mon Sep 17 00:00:00 2001 From: LGH <1746689524@qq.com> Date: Thu, 24 Nov 2022 09:09:38 +0800 Subject: [PATCH] =?UTF-8?q?update:=20=E5=87=BA=E5=BA=93=E6=B6=B2=E5=8E=8B?= =?UTF-8?q?=E5=8F=B0=E5=9C=A8=E7=BA=BF=E4=B8=94=E9=AB=98=E4=BD=8D=E5=88=99?= =?UTF-8?q?=E9=80=89=E4=B8=BA=E5=87=BA=E5=BA=93=E5=8F=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/mt/wms/empty/task/RunTaskUtils.java | 278 ++++++++++++------ 1 file changed, 188 insertions(+), 90 deletions(-) diff --git a/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java b/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java index ea17d02..bef1ae4 100644 --- a/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java +++ b/6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java @@ -63,6 +63,7 @@ public class RunTaskUtils { /** * 进炉加工 + * * @param currTaskId 任务id * @return R * @throws InterruptedException @@ -74,25 +75,25 @@ public class RunTaskUtils { PointInfo startPoint = pointInfoServiceBiz.getOne(new QueryWrapper().eq(PointInfo.NOTE, startPosition)); // 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==2){ + if (startPointType == 2) { Map yeya = new HashMap(); //type=1为 入 yeya.put("type", 1); - if ("YYT003".equals(currTask.getStartPosition())){ + if ("YYT003".equals(currTask.getStartPosition())) { yeya.put("number", 3); } - if ("YYT004".equals(currTask.getStartPosition())){ + if ("YYT004".equals(currTask.getStartPosition())) { yeya.put("number", 4); } - if ("YYT002".equals(currTask.getStartPosition())){ + if ("YYT002".equals(currTask.getStartPosition())) { yeya.put("number", 2); } - if ("YYT001".equals(currTask.getStartPosition())){ + if ("YYT001".equals(currTask.getStartPosition())) { 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; + String yeyaStatus = null; try { yeyaStatus = HttpClient.httpPost("http://192.168.6.51:8009/yeya/isReadyForYeyaStatus", yeyaJudgeStatus); } catch (IOException e) { @@ -100,13 +101,13 @@ public class RunTaskUtils { logger.error(new Date() + "WCS接口超时未响应！"); } //taskStatus==3满足条件，其他状态值说明液压台不满足开始任务的条件（无货物或者有货物但是没提升到位） - if (Integer.parseInt(JSONObject.parseObject(yeyaStatus).get("taskStatus").toString()) != 1){ - return R.failed(startPoint.getName()+"号液压台不满足任务执行所必须的条件，请检查液压台是否有货物且提升到位！"); + if (Integer.parseInt(JSONObject.parseObject(yeyaStatus).get("taskStatus").toString()) != 1) { + return R.failed(startPoint.getName() + "号液压台不满足任务执行所必须的条件，请检查液压台是否有货物且提升到位！"); } } //是否有小车在运行 List vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper().eq(VehicleInfo.STATUS, 1)); - if (vehicleInfoList.size()>0){ + if (vehicleInfoList.size() > 0) { //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！"); } @@ -122,10 +123,10 @@ public class RunTaskUtils { return R.failed("目标工业炉不可用！"); } //工业炉可用未满 - if (resultBoolean){ + if (resultBoolean) { //计算出路径最短的车辆id Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), currTask.getTargetPosition()); - if (vehicleId==0){ + if (vehicleId == 0) { logger.info("两辆车都不在线，请检查后重试！"); return R.failed("两辆车都不在线，请检查后重试！"); } @@ -139,7 +140,7 @@ public class RunTaskUtils { currTask.setUpdateTime(LocalDateTime.now()); currTaskServiceBiz.updateById(currTask); //异步调用车辆 - asynRunTaskService.asynRunTask(currTask.getId(),vehicleId); + asynRunTaskService.asynRunTask(currTask.getId(), vehicleId); return R.ok("操作成功，任务已开始执行。"); } else { //工业炉已满 @@ -148,14 +149,14 @@ public class RunTaskUtils { .eq(Location.STATUS, 0) .eq(Location.VALID, 1)); //缓存区未满 - if (count >0) { + if (count > 0) { //分配一个缓存区库位 Location location = locationServiceBiz.list(new QueryWrapper() .eq(Location.STATUS, 0) .eq(Location.VALID, 1)).get(0); //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){ + if (vehicleId == 0) { logger.info("两辆车都不在线，请检查后重试！"); return R.failed("两辆车都不在线，请检查后重试！"); } @@ -180,7 +181,7 @@ public class RunTaskUtils { currTask.setLocationName(location.getLocationName()); currTaskServiceBiz.updateById(currTask); //异步调用车辆 - asynRunTaskService.asynRunTaskToWarehouse(currTask.getId(),vehicleId,location); + asynRunTaskService.asynRunTaskToWarehouse(currTask.getId(), vehicleId, location); return R.ok("操作成功！当前目标工业炉已满，托盘准备加入缓存区待加工队列。"); } return R.failed("当前目标工业炉已满！缓存区已满！请稍后重试!"); @@ -191,6 +192,7 @@ public class RunTaskUtils { * 加工完成、出炉。传入工业炉id，查询正在该工业炉加工的currTask,查询是否有空闲车辆，有， * （查询是否为自动任务，是，查询下一步的工业炉是否空闲，是，调车去下一工业炉加工，否，暂存缓存区） * 呼叫车辆暂存缓存区，车辆调度任务结束后，（结束后再查询缓R存区队列避免车辆路线冲突）查询该工业炉的缓存区队列，开始下一托盘货物调度进工业炉 + * * @return R */ public R runTaskForOutKiln(Long kilnId) throws IOException { @@ -199,7 +201,7 @@ public class RunTaskUtils { .eq("is_in", 1) .eq("status", 1) .eq("kiln_id", kilnId).orderByAsc(CurrTask.BEGIN_TIME)); - if (currTaskList.size()==0){ + if (currTaskList.size() == 0) { return R.failed(); } CurrTask currTask = currTaskList.get(0); @@ -267,8 +269,17 @@ public class RunTaskUtils { vehicleInfo.setStatus(1); vehicleInfo.setUpdateTime(LocalDateTime.now()); vehicleInfoServiceBiz.updateById(vehicleInfo); - asynRunTaskService.asynRunOutStockForKilnToYYT(currTask.getId(),"YYT001",vehicleId); - return R.ok("操作成功！托盘即将出库到一号液压台。"); + String yytCode = "YYT001"; + //选择出库液压台 + if (platFormPosition("YYT001")) { + yytCode = "YYT001"; + } else if (platFormPosition("YYT002")) { + yytCode = "YYT002"; + } else { + yytCode = "YYT001"; + } + asynRunTaskService.asynRunOutStockForKilnToYYT(currTask.getId(), yytCode, vehicleId); + return R.ok("操作成功！托盘即将出库到" + yytCode + "液压台。"); } else { //查询缓存区库位是否已满 int count = locationServiceBiz.count(new QueryWrapper() @@ -318,49 +329,50 @@ public class RunTaskUtils { /** * 从缓存区出库 - * @param locationId 库位id + * + * @param locationId 库位id * @param yeyaTaiCode 液压台code * @return R */ - public R runTaskForOut(Long locationId,String yeyaTaiCode) throws IOException { + public R runTaskForOut(Long locationId, String yeyaTaiCode) throws IOException { Location location = locationServiceBiz.getById(locationId); //是否有小车在运行 List vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper().eq(VehicleInfo.STATUS, 1)); - if (vehicleInfoList.size()>0){ + if (vehicleInfoList.size() > 0) { //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！"); } - Map yeya = new HashMap(); - //type=1随意赋值，不用type了 - yeya.put("type", 1); - if ("YYT003".equals(yeyaTaiCode)){ - yeya.put("number", 3); - } - if ("YYT004".equals(yeyaTaiCode)){ - yeya.put("number", 4); - } - if ("YYT002".equals(yeyaTaiCode)){ - yeya.put("number", 2); - } - if ("YYT001".equals(yeyaTaiCode)){ - yeya.put("number", 1); - } - String yeyaJudgeStatus = JSON.toJSONString(yeya); - //判断起点液压台是否在线且提升到位 - String yeyaStatus=null; - try { - 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！"); - } - //taskStatus==3满足条件，其他状态值说明液压台不满足开始任务的条件（无货物或者有货物但是没提升到位） - if (Integer.parseInt(JSONObject.parseObject(yeyaStatus).get("taskStatus").toString()) != 1){ - return R.failed("液压台"+yeyaTaiCode+"不满足任务执行所必须的条件，请检查液压台是否有货物且提升到位！"); - } + Map yeya = new HashMap(); + //type=1随意赋值，不用type了 + yeya.put("type", 1); + if ("YYT003".equals(yeyaTaiCode)) { + yeya.put("number", 3); + } + if ("YYT004".equals(yeyaTaiCode)) { + yeya.put("number", 4); + } + if ("YYT002".equals(yeyaTaiCode)) { + yeya.put("number", 2); + } + if ("YYT001".equals(yeyaTaiCode)) { + yeya.put("number", 1); + } + String yeyaJudgeStatus = JSON.toJSONString(yeya); + //判断起点液压台是否在线且提升到位 + String yeyaStatus = null; + try { + 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！"); + } + //taskStatus==3满足条件，其他状态值说明液压台不满足开始任务的条件（无货物或者有货物但是没提升到位） + if (Integer.parseInt(JSONObject.parseObject(yeyaStatus).get("taskStatus").toString()) != 1) { + return R.failed("液压台" + yeyaTaiCode + "不满足任务执行所必须的条件，请检查液压台是否有货物且提升到位！"); + } //计算出路径最短的车辆id Long vehicleId = taskDistanceUtils.chooseVehicle(location.getCode(), yeyaTaiCode); - if (vehicleId==0){ + if (vehicleId == 0) { return R.failed("两辆车都不在线，请检查后重试！"); } //占用车辆 @@ -369,7 +381,7 @@ public class RunTaskUtils { vehicleInfo.setUpdateTime(LocalDateTime.now()); vehicleInfoServiceBiz.updateById(vehicleInfo); //异步调用车辆 - asynRunTaskService.asynRunOutStock(locationId,yeyaTaiCode,vehicleInfo.getId()); + 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。"); @@ -377,39 +389,41 @@ public class RunTaskUtils { /** * 获取变量值 - * @param nameSpace nameSpace前缀 + * + * @param nameSpace nameSpace前缀 * @param variableName 变量名称 * @return result字符串 */ - private String readPlcToString(String nameSpace, String variableName){ - String identifier=nameSpace.concat(variableName); + private String readPlcToString(String nameSpace, String variableName) { + String identifier = nameSpace.concat(variableName); Map json = new HashMap(); json.put("nameSpace", 6); json.put("plcName", "plc1"); - json.put("identifier",identifier); + 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("readPLC： "+identifier+" 的值失败"); + logger.info("readPLC： " + identifier + " 的值失败"); } 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."; + private Boolean platFormStatus(String platFormCode) { + String identifier = null; + if ("YYT001".equals(platFormCode)) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform4ToWCS."; Map json = new HashMap(); json.put("nameSpace", 6); json.put("plcName", "plc1"); - json.put("identifier",identifier+"Online"); + json.put("identifier", identifier + "Online"); String result = null; try { result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); @@ -418,11 +432,11 @@ public class RunTaskUtils { 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){ + if (aBoolean) { Map statusJson = new HashMap(); statusJson.put("nameSpace", 6); statusJson.put("plcName", "plc1"); - statusJson.put("identifier",identifier+"TaskState"); + statusJson.put("identifier", identifier + "TaskState"); String statusResult = null; try { statusResult = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(statusJson)); @@ -431,21 +445,21 @@ public class RunTaskUtils { 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){ + if (status == 1) { return true; - }else { + } else { return false; } - }else { + } else { return false; } } - if ("YYT002".equals(platFormCode)){ - identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform3ToWCS."; + if ("YYT002".equals(platFormCode)) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform3ToWCS."; Map json = new HashMap(); json.put("nameSpace", 6); json.put("plcName", "plc1"); - json.put("identifier",identifier+"Online"); + json.put("identifier", identifier + "Online"); String result = null; try { result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); @@ -454,11 +468,11 @@ public class RunTaskUtils { 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){ + if (aBoolean) { Map statusJson = new HashMap(); statusJson.put("nameSpace", 6); statusJson.put("plcName", "plc1"); - statusJson.put("identifier",identifier+"TaskState"); + statusJson.put("identifier", identifier + "TaskState"); String statusResult = null; try { statusResult = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(statusJson)); @@ -467,41 +481,124 @@ public class RunTaskUtils { 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){ + if (status == 1) { return true; - }else { + } else { return false; } - }else { + } else { return false; } } return false; } + + /** + * 选择出库液压台; + * 查询液压台1和液压台2是否为高位,都不为高位则选择液压台1 + */ + private Boolean platFormPosition(String platFormCode) { + String identifier = null; + if ("YYT001".equals(platFormCode)) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform4ToWCS."; + Map 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 statusJson = new HashMap(); + statusJson.put("nameSpace", 6); + statusJson.put("plcName", "plc1"); + statusJson.put("identifier", identifier + "LifterPosition"); + 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当前是否高位"); + } + Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString()); + if (status == 2) { + return true; + } else { + return false; + } + } else { + return false; + } + } + if ("YYT002".equals(platFormCode)) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform3ToWCS."; + Map 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 statusJson = new HashMap(); + statusJson.put("nameSpace", 6); + statusJson.put("plcName", "plc1"); + statusJson.put("identifier", identifier + "LifterPosition"); + 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当前是否高位失败"); + } + Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString()); + if (status == 2) { + return true; + } else { + return false; + } + } else { + return false; + } + } + return false; + } + /** * 车辆是否在线 + * * @param vehicleId 车辆id * @return true/false - * @throws IOException plc访问失败 + * @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"; + 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"; + if (vehicleId == 2) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online"; } Map json = new HashMap(); json.put("nameSpace", 6); json.put("plcName", "plc1"); - json.put("identifier",identifier); + 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"); + 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; @@ -509,28 +606,29 @@ public class RunTaskUtils { /** * 车辆是否空闲 + * * @param vehicleId 车辆id * @return true/false - * @throws IOException plc访问失败 + * @throws IOException plc访问失败 */ private Boolean rgvFree(Long vehicleId) throws IOException { - String identifier=null; - if (vehicleId==1){ - identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free"; + String identifier = null; + if (vehicleId == 1) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free"; } - if (vehicleId==2){ - identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free"; + if (vehicleId == 2) { + identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free"; } Map json = new HashMap(); json.put("nameSpace", 6); json.put("plcName", "plc1"); - json.put("identifier",identifier); + 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+"当前是否空闲失败"); + logger.info("获取车辆" + vehicleId + "当前是否空闲失败"); } Boolean free = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString()); return free;