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出库液压台在线且高位则选为出库台
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李广豪 2022-11-24 09:09:38 +08:00
parent 7e9d8f5e64
commit a002354d49
1 changed files with 188 additions and 90 deletions
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278
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java
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@ -63,6 +63,7 @@ public class RunTaskUtils {
/** /**
* 进炉加工 * 进炉加工
*
* @param currTaskId 任务id * @param currTaskId 任务id
* @return R * @return R
* @throws InterruptedException * @throws InterruptedException
@ -74,25 +75,25 @@ public class RunTaskUtils {
PointInfo startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, startPosition)); 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(2是液压台) // 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(); Integer startPointType = startPoint.getType();
if (startPointType==2){ if (startPointType == 2) {
Map<String, Object> yeya = new HashMap(); Map<String, Object> yeya = new HashMap();
//type=1为 入 //type=1为 入
yeya.put("type", 1); yeya.put("type", 1);
if ("YYT003".equals(currTask.getStartPosition())){ if ("YYT003".equals(currTask.getStartPosition())) {
yeya.put("number", 3); yeya.put("number", 3);
} }
if ("YYT004".equals(currTask.getStartPosition())){ if ("YYT004".equals(currTask.getStartPosition())) {
yeya.put("number", 4); yeya.put("number", 4);
} }
if ("YYT002".equals(currTask.getStartPosition())){ if ("YYT002".equals(currTask.getStartPosition())) {
yeya.put("number", 2); yeya.put("number", 2);
} }
if ("YYT001".equals(currTask.getStartPosition())){ if ("YYT001".equals(currTask.getStartPosition())) {
yeya.put("number", 1); yeya.put("number", 1);
} }
String yeyaJudgeStatus = JSON.toJSONString(yeya); String yeyaJudgeStatus = JSON.toJSONString(yeya);
//判断起点液压台是否已放货且提升到位 //判断起点液压台是否已放货且提升到位
String yeyaStatus=null; String yeyaStatus = null;
try { try {
yeyaStatus = HttpClient.httpPost("http://192.168.6.51:8009/yeya/isReadyForYeyaStatus", yeyaJudgeStatus); yeyaStatus = HttpClient.httpPost("http://192.168.6.51:8009/yeya/isReadyForYeyaStatus", yeyaJudgeStatus);
} catch (IOException e) { } catch (IOException e) {
@ -100,13 +101,13 @@ public class RunTaskUtils {
logger.error(new Date() + "WCS接口超时未响应！"); 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） //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){ 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！"); 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 //是否有小车在运行
List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 1)); List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().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 //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！"); 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！"); return R.failed("目标工业炉不可用！");
} }
//工业炉可用未满 //工业炉可用未满
if (resultBoolean){ if (resultBoolean) {
//计算出路径最短的车辆id //计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), currTask.getTargetPosition()); 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！"); 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！"); 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()); currTask.setUpdateTime(LocalDateTime.now());
currTaskServiceBiz.updateById(currTask); currTaskServiceBiz.updateById(currTask);
//异步调用车辆 //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。"); return R.ok("操作成功，任务已开始执行。");
} else { } else {
//工业炉已满 //工业炉已满
@ -148,14 +149,14 @@ public class RunTaskUtils {
.eq(Location.STATUS, 0) .eq(Location.STATUS, 0)
.eq(Location.VALID, 1)); .eq(Location.VALID, 1));
//缓存区未满 //缓存区未满
if (count >0) { if (count > 0) {
//分配一个缓存区库位 //分配一个缓存区库位
Location location = locationServiceBiz.list(new QueryWrapper<Location>() Location location = locationServiceBiz.list(new QueryWrapper<Location>()
.eq(Location.STATUS, 0) .eq(Location.STATUS, 0)
.eq(Location.VALID, 1)).get(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 //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()); 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！"); 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！"); 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()); currTask.setLocationName(location.getLocationName());
currTaskServiceBiz.updateById(currTask); currTaskServiceBiz.updateById(currTask);
//异步调用车辆 //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.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!"); 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， * 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） * （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 * 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 * @return R
*/ */
public R runTaskForOutKiln(Long kilnId) throws IOException { public R runTaskForOutKiln(Long kilnId) throws IOException {
@ -199,7 +201,7 @@ public class RunTaskUtils {
.eq("is_in", 1) .eq("is_in", 1)
.eq("status", 1) .eq("status", 1)
.eq("kiln_id", kilnId).orderByAsc(CurrTask.BEGIN_TIME)); .eq("kiln_id", kilnId).orderByAsc(CurrTask.BEGIN_TIME));
if (currTaskList.size()==0){ if (currTaskList.size() == 0) {
return R.failed(); return R.failed();
} }
CurrTask currTask = currTaskList.get(0); CurrTask currTask = currTaskList.get(0);
@ -267,8 +269,17 @@ public class RunTaskUtils {
vehicleInfo.setStatus(1); vehicleInfo.setStatus(1);
vehicleInfo.setUpdateTime(LocalDateTime.now()); vehicleInfo.setUpdateTime(LocalDateTime.now());
vehicleInfoServiceBiz.updateById(vehicleInfo); vehicleInfoServiceBiz.updateById(vehicleInfo);
asynRunTaskService.asynRunOutStockForKilnToYYT(currTask.getId(),"YYT001",vehicleId); String yytCode = "YYT001";
return R.ok("操作成功！托盘即将出库到一号液压台。"); //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 { } else {
//查询缓存区库位是否已满 //查询缓存区库位是否已满
int count = locationServiceBiz.count(new QueryWrapper<Location>() int count = locationServiceBiz.count(new QueryWrapper<Location>()
@ -318,49 +329,50 @@ public class RunTaskUtils {
/** /**
* 从缓存区出库 * 从缓存区出库
* @param locationId 库位id *
* @param locationId 库位id
* @param yeyaTaiCode 液压台code * @param yeyaTaiCode 液压台code
* @return R * @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); Location location = locationServiceBiz.getById(locationId);
//是否有小车在运行 //是否有小车在运行
List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().eq(VehicleInfo.STATUS, 1)); List<VehicleInfo> vehicleInfoList = vehicleInfoServiceBiz.list(new QueryWrapper<VehicleInfo>().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 //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！"); 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<String, Object> yeya = new HashMap(); Map<String, Object> yeya = new HashMap();
//type=1随意赋值，不用type了 //type=1随意赋值，不用type了
yeya.put("type", 1); yeya.put("type", 1);
if ("YYT003".equals(yeyaTaiCode)){ if ("YYT003".equals(yeyaTaiCode)) {
yeya.put("number", 3); yeya.put("number", 3);
} }
if ("YYT004".equals(yeyaTaiCode)){ if ("YYT004".equals(yeyaTaiCode)) {
yeya.put("number", 4); yeya.put("number", 4);
} }
if ("YYT002".equals(yeyaTaiCode)){ if ("YYT002".equals(yeyaTaiCode)) {
yeya.put("number", 2); yeya.put("number", 2);
} }
if ("YYT001".equals(yeyaTaiCode)){ if ("YYT001".equals(yeyaTaiCode)) {
yeya.put("number", 1); yeya.put("number", 1);
} }
String yeyaJudgeStatus = JSON.toJSONString(yeya); String yeyaJudgeStatus = JSON.toJSONString(yeya);
//判断起点液压台是否在线且提升到位 //判断起点液压台是否在线且提升到位
String yeyaStatus=null; String yeyaStatus = null;
try { try {
yeyaStatus = HttpClient.httpPost("http://192.168.6.51:8009/yeya/isReadyForYeyaStatus", yeyaJudgeStatus); yeyaStatus = HttpClient.httpPost("http://192.168.6.51:8009/yeya/isReadyForYeyaStatus", yeyaJudgeStatus);
} catch (IOException e) { } catch (IOException e) {
e.printStackTrace(); e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！"); 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） //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){ 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！"); 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 //计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(location.getCode(), yeyaTaiCode); 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！"); return R.failed("两辆车都不在线，请检查后重试！");
} }
//占用车辆 //占用车辆
@ -369,7 +381,7 @@ public class RunTaskUtils {
vehicleInfo.setUpdateTime(LocalDateTime.now()); vehicleInfo.setUpdateTime(LocalDateTime.now());
vehicleInfoServiceBiz.updateById(vehicleInfo); vehicleInfoServiceBiz.updateById(vehicleInfo);
//异步调用车辆 //异步调用车辆
asynRunTaskService.asynRunOutStock(locationId,yeyaTaiCode,vehicleInfo.getId()); asynRunTaskService.asynRunOutStock(locationId, yeyaTaiCode, vehicleInfo.getId());
// TODO: 2022/3/19 // TODO: 2022/3/19
System.out.println("操作成功，任务已开始执行。"); 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。"); 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 * 获取变量值
* @param nameSpace nameSpace前缀 *
* @param nameSpace nameSpace前缀
* @param variableName 变量名称 * @param variableName 变量名称
* @return result字符串 * @return result字符串
*/ */
private String readPlcToString(String nameSpace, String variableName){ private String readPlcToString(String nameSpace, String variableName) {
String identifier=nameSpace.concat(variableName); String identifier = nameSpace.concat(variableName);
Map<String, Object> json = new HashMap(); Map<String, Object> json = new HashMap();
json.put("nameSpace", 6); json.put("nameSpace", 6);
json.put("plcName", "plc1"); json.put("plcName", "plc1");
json.put("identifier",identifier); json.put("identifier", identifier);
String result = null; String result = null;
try { try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) { } catch (IOException e) {
e.printStackTrace(); e.printStackTrace();
logger.info("readPLC： "+identifier+" 的值失败"); logger.info("readPLC： " + identifier + " 的值失败");
} }
return result; return result;
} }
/** /**
* 判断液压台是否准备好放货 * 判断液压台是否准备好放货
*
* @param platFormCode 液压台编码 * @param platFormCode 液压台编码
* @return 是/否 * @return 是/否
*/ */
private Boolean platFormStatus(String platFormCode){ private Boolean platFormStatus(String platFormCode) {
String identifier=null; String identifier = null;
if ("YYT001".equals(platFormCode)){ if ("YYT001".equals(platFormCode)) {
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform4ToWCS."; identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform4ToWCS.";
Map<String, Object> json = new HashMap(); Map<String, Object> json = new HashMap();
json.put("nameSpace", 6); json.put("nameSpace", 6);
json.put("plcName", "plc1"); json.put("plcName", "plc1");
json.put("identifier",identifier+"Online"); json.put("identifier", identifier + "Online");
String result = null; String result = null;
try { try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); 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"); 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()); Boolean aBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
if (aBoolean){ if (aBoolean) {
Map<String, Object> statusJson = new HashMap(); Map<String, Object> statusJson = new HashMap();
statusJson.put("nameSpace", 6); statusJson.put("nameSpace", 6);
statusJson.put("plcName", "plc1"); statusJson.put("plcName", "plc1");
statusJson.put("identifier",identifier+"TaskState"); statusJson.put("identifier", identifier + "TaskState");
String statusResult = null; String statusResult = null;
try { try {
statusResult = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(statusJson)); 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"); logger.info("获取液压台1当前状态失败");
} }
Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString()); Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString());
if (status==1){ if (status == 1) {
return true; return true;
}else { } else {
return false; return false;
} }
}else { } else {
return false; return false;
} }
} }
if ("YYT002".equals(platFormCode)){ if ("YYT002".equals(platFormCode)) {
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform3ToWCS."; identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.Platform3ToWCS.";
Map<String, Object> json = new HashMap(); Map<String, Object> json = new HashMap();
json.put("nameSpace", 6); json.put("nameSpace", 6);
json.put("plcName", "plc1"); json.put("plcName", "plc1");
json.put("identifier",identifier+"Online"); json.put("identifier", identifier + "Online");
String result = null; String result = null;
try { try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); 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"); 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()); Boolean aBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
if (aBoolean){ if (aBoolean) {
Map<String, Object> statusJson = new HashMap(); Map<String, Object> statusJson = new HashMap();
statusJson.put("nameSpace", 6); statusJson.put("nameSpace", 6);
statusJson.put("plcName", "plc1"); statusJson.put("plcName", "plc1");
statusJson.put("identifier",identifier+"TaskState"); statusJson.put("identifier", identifier + "TaskState");
String statusResult = null; String statusResult = null;
try { try {
statusResult = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(statusJson)); 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"); logger.info("获取液压台2当前状态失败");
} }
Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString()); Integer status = Integer.valueOf(JSONObject.parseObject(statusResult).get("result").toString());
if (status==1){ if (status == 1) {
return true; return true;
}else { } else {
return false; return false;
} }
}else { } else {
return false; return false;
} }
} }
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<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();
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<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 + "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 * 车辆是否在线
*
* @param vehicleId 车辆id * @param vehicleId 车辆id
* @return true/false * @return true/false
* @throws IOException plc访问失败 * @throws IOException plc访问失败
*/ */
private Boolean rgvOnline(Long vehicleId) throws IOException { private Boolean rgvOnline(Long vehicleId) throws IOException {
String identifier=null; String identifier = null;
if (vehicleId==1){ if (vehicleId == 1) {
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online"; identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Online";
} }
if (vehicleId==2){ if (vehicleId == 2) {
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online"; identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Online";
} }
Map<String, Object> json = new HashMap(); Map<String, Object> json = new HashMap();
json.put("nameSpace", 6); json.put("nameSpace", 6);
json.put("plcName", "plc1"); json.put("plcName", "plc1");
json.put("identifier",identifier); json.put("identifier", identifier);
String result = null; String result = null;
try { try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) { } catch (IOException e) {
e.printStackTrace(); 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()); Boolean online = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return online; return online;
@ -509,28 +606,29 @@ public class RunTaskUtils {
/** /**
* 车辆是否空闲 * 车辆是否空闲
*
* @param vehicleId 车辆id * @param vehicleId 车辆id
* @return true/false * @return true/false
* @throws IOException plc访问失败 * @throws IOException plc访问失败
*/ */
private Boolean rgvFree(Long vehicleId) throws IOException { private Boolean rgvFree(Long vehicleId) throws IOException {
String identifier=null; String identifier = null;
if (vehicleId==1){ if (vehicleId == 1) {
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free"; identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV1ToWCS.Free";
} }
if (vehicleId==2){ if (vehicleId == 2) {
identifier="S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free"; identifier = "S7-1200 station_2.Boutique.DB500_PLCToWCS.RGV2ToWCS.Free";
} }
Map<String, Object> json = new HashMap(); Map<String, Object> json = new HashMap();
json.put("nameSpace", 6); json.put("nameSpace", 6);
json.put("plcName", "plc1"); json.put("plcName", "plc1");
json.put("identifier",identifier); json.put("identifier", identifier);
String result = null; String result = null;
try { try {
result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json)); result = HttpClient.httpPost("http://192.168.6.51:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) { } catch (IOException e) {
e.printStackTrace(); 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()); Boolean free = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
return free; return free;