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出库液压台在线且高位则选为出库台
This commit is contained in:
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
*
* @param currTaskId 任务id
* @return R
* @throws InterruptedException
@@ -74,25 +75,25 @@ public class RunTaskUtils {
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)
Integer startPointType = startPoint.getType();
if (startPointType==2){
if (startPointType == 2) {
Map<String, Object> 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<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
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<Location>()
.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<Location>()
@@ -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<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
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();
//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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<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
*
* @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<String, Object> 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<String, Object> 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;