三、openTCS4.12 Http接口创建运输订单（可用于二次开发）

openTCS官方提供关了Web API的文档
http://www.opentcs.org/docs/4.12/developer/web-api/index.html

1.运输订单
  Get方法（可以在浏览器地址栏直接输入测试）
     http://127.0.0.1:55200/v1/transportOrders
   返回所有的运输订单：
     [ {
      “name” : “TOrder-0fa56142-3e0a-4702-8eef-39136c82b8f1”,
      “category” : “-”,
      “state” : “FINISHED”,
      “intendedVehicle” : null,
      “processingVehicle” : “AGV2”,
      “destinations” : [ {
      “locationName” : “WorkPlace”,
      “operation” : “Work”,
       “state” : “FINISHED”,
      “properties” : []
      }]
     },{
      “name” : “Move-24d8eb37-1251-426b-af41-4604511ff4c9”,
      “category” : “-”,
      “state” : “BEING_PROCESSED”,
      “intendedVehicle” : “AGV2”,
      “processingVehicle” : “AGV2”,
      “destinations” : [{
      “locationName” : “Point1”,
      “operation” : “MOVE”,
      “state” : “TRAVELLING”,
      “properties” : []
      }]
     }]
2.根据订单号获取运输订单信息
  GET方法：
    http://127.0.0.1:55200/v1/transportOrders/{orderNum}
    例如
    http://127.0.0.1:55200/v1/transportOrders/TOrder-0fa56142-3e0a-4702-8eef-39136c82b8f1
  返回：
  {
   “name” : “TOrder-0fa56142-3e0a-4702-8eef-39136c82b8f1”,
   “category” : “-”,
    “state” : “FINISHED”,
    “intendedVehicle” : null,
    “processingVehicle” : “AGV2”,
    “destinations” : [ {
    “locationName” : “WorkPlace”,
    “operation” : “Work”,
    “state” : “FINISHED”,
    “properties” : []
    }]
  }

3.创建订单
    Post方法：
        http://127.0.0.1:55200/v1/transportOrders/{orderNum}
        orderNum随机生成(建议用UUID)
        contentType为:application/json
        Post数据如下：
        创建运输订单
        {
            “intendedVehicle” : null,
            “destinations” : [ {
                “locationName” : “Load1”,
                “operation” : “Load”,
                “properties” : [ ]
            }, {
                “locationName” : “Unload1”,
                “operation” : “Unload”,
                “properties” : [ ]
            } ]
        }
        或者移动订单
        {
            “intendedVehicle” : “AGV1”,
            “destinations” : [ {
            “locationName” : “Point5”,
            “operation” : “MOVE”,
            “properties” : [ ]
        } ]
    }
    返回：
        Successful operation

4.取消订单
  POST方法
    http://127.0.0.1:55200/v1/transportOrders/{orderNum}/withdrawal
  返回
    Successful operation

5.获取小车信息
    GET方法
        http://127.0.0.1:55200/v1/vehicles
    返回：
    [ {
        “name” : “AGV1”,
        “properties” : {
            “tcs:preferredAdapterClass” : “org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory”,
            “IP” :“192.168.1.100”,
            “Port” : “4001”
            },
            “length” : 1000,
            “energyLevelGood” : 90,
            “energyLevelCritical” : 30,
            “energyLevel” : 100,
            “integrationLevel” : “TO_BE_UTILIZED”,
            “procState” : “IDLE”,
            “transportOrder” : null,
            “currentPosition” : “0,5”,
            “state” : “IDLE”
            }, {
                “name” : “AGV2”,
            “properties” : {
                “tcs:preferredAdapterClass” : “org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory”,
                “IP” : “192.168.1.101”,
                “Port” : “4001”
            },
            “length” : 1000,
            “energyLevelGood” : 90,
            “energyLevelCritical” : 30,
            “energyLevel” : 100,
            “integrationLevel” : “TO_BE_UTILIZED”,
            “procState” : “PROCESSING_ORDER”,
            “transportOrder” : “Move-24d8eb37-1251-426b-af41-4604511ff4c9”,
            “currentPosition” : “0,0”,
            “state” : “IDLE”
        }]

6.根据小车编号获得小车信息
  GET方法
    http://127.0.0.1:55200/v1/vehicles/{vehicleName}
    例如
    http://127.0.0.1:55200/v1/vehicles/AGV1
  返回：
    {
        “name” : “AGV1”,
        “properties” : {
        “tcs:preferredAdapterClass” :         “org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory”,
        “IP” : “192.168.1.100”,
        “Port” : “4001”
    },
    “length” : 1000,
    “energyLevelGood” : 90,
    “energyLevelCritical” : 30,
    “energyLevel” : 100,
    “integrationLevel” : “TO_BE_UTILIZED”,
    “procState” : “IDLE”,
    “transportOrder” : null,
    “currentPosition” : “0,5”,
    “state” : “IDLE”
    }

7.取消正在执行任务的小车
    POST方法：
        http://127.0.0.1:55200/v1/vehicles/{vehicleName}/withdrawal
        例如
        http://127.0.0.1:55200/v1/vehicles/AGV1/withdrawal
    返回：
        Successful operation

特别注意：
在创建订单的时候，系统会报错

将OrderHandler第165行修改成如下即可

附C# Http操作工具类

public class HttpMethods
    {
        private static readonly string DefaultUserAgent = "Mozilla/4.0 (compatible; MSIE 6.0; Windows NT 5.2; SV1; .NET CLR 1.1.4322; .NET CLR 2.0.50727)";
        /// <summary>
        /// get方法请求服务器
        /// </summary>
        /// <param name="url"></param>
        /// <param name="parametersDict"></param>
        /// <param name="timeout"></param>
        /// <returns></returns>
        public static string DoGet(string url, Dictionary<string, string> parametersDict, int? timeout)
        {
            if (parametersDict != null && parametersDict.Count != 0)
            {
                if (!url.Contains("?"))
                    url = url + "?";
                foreach (string key in parametersDict.Keys)
                {
                    url = url + key + "=" + parametersDict[key] + "&";
                }
                url = url.Substring(0, url.Length - 1);
            }
            try
            {
                HttpWebResponse response = CreateGetHttpResponse(url, timeout, null, null);
                using (Stream responseStream = response.GetResponseStream())
                {
                    using (StreamReader sReader = new StreamReader(responseStream))
                    {
                        return sReader.ReadToEnd();
                    }
                }
            }
            catch (Exception exp)
            {
                return null;
            }
        }


        /// <summary>  
        /// 创建GET方式的HTTP请求  
        /// </summary>  
        /// <param name="url">请求的URL</param>  
        /// <param name="timeout">请求的超时时间</param>  
        /// <param name="userAgent">请求的客户端浏览器信息，可以为空</param>  
        /// <param name="cookies">随同HTTP请求发送的Cookie信息，如果不需要身份验证可以为空</param>  
        /// <returns></returns>  
        public static HttpWebResponse CreateGetHttpResponse(string url, int? timeout, string userAgent, CookieCollection cookies)
        {
            if (string.IsNullOrEmpty(url))
            {
                throw new ArgumentNullException("url");
            }
            HttpWebRequest request = WebRequest.Create(url) as HttpWebRequest;
            request.Method = "GET";
            request.UserAgent = DefaultUserAgent;
            if (!string.IsNullOrEmpty(userAgent))
            {
                request.UserAgent = userAgent;
            }
            if (timeout.HasValue)
            {
                request.Timeout = timeout.Value;
            }
            if (cookies != null)
            {
                request.CookieContainer = new CookieContainer();
                request.CookieContainer.Add(cookies);
            }
            return request.GetResponse() as HttpWebResponse;
        }

        /// <summary>  
        /// 创建POST方式的HTTP请求  
        /// </summary>  
        /// <param name="url">请求的URL</param>  
        /// <param name="parameters">随同请求POST的参数名称及参数值字典</param>  
        /// <param name="timeout">请求的超时时间</param>  
        /// <param name="userAgent">请求的客户端浏览器信息，可以为空</param>  
        /// <param name="requestEncoding">发送HTTP请求时所用的编码</param>  
        /// <param name="cookies">随同HTTP请求发送的Cookie信息，如果不需要身份验证可以为空</param>  
        /// <returns></returns>  
        public static HttpWebResponse CreatePostHttpResponse(string url, IDictionary<string, string> parameters, int? timeout, string userAgent, Encoding requestEncoding, CookieCollection cookies, string contentType)
        {
            if (string.IsNullOrEmpty(url))
            {
                throw new ArgumentNullException("url");
            }
            if (requestEncoding == null)
            {
                throw new ArgumentNullException("requestEncoding");
            }
            HttpWebRequest request = null;
            //如果是发送HTTPS请求  
            if (url.StartsWith("https", StringComparison.OrdinalIgnoreCase))
            {
                ServicePointManager.ServerCertificateValidationCallback = new RemoteCertificateValidationCallback(CheckValidationResult);
                request = WebRequest.Create(url) as HttpWebRequest;
                request.ProtocolVersion = HttpVersion.Version10;
            }
            else
            {
                request = WebRequest.Create(url) as HttpWebRequest;
            }
            request.Method = "POST";
            request.ContentType = contentType;

            if (!string.IsNullOrEmpty(userAgent))
            {
                request.UserAgent = userAgent;
            }
            else
            {
                request.UserAgent = DefaultUserAgent;
            }

            if (timeout.HasValue)
            {
                request.Timeout = timeout.Value;
            }
            if (cookies != null)
            {
                request.CookieContainer = new CookieContainer();
                request.CookieContainer.Add(cookies);
            }
            //如果需要POST数据  
            if (!(parameters == null || parameters.Count == 0))
            {
                StringBuilder buffer = new StringBuilder();
                int i = 0;
                foreach (string key in parameters.Keys)
                {
                    if (i > 0)
                    {
                        buffer.AppendFormat("&{0}={1}", key, parameters[key]);
                    }
                    else
                    {
                        buffer.AppendFormat("{0}={1}", key, parameters[key]);
                    }
                    i++;
                }
                byte[] data = requestEncoding.GetBytes(buffer.ToString());
                using (Stream stream = request.GetRequestStream())
                {
                    stream.Write(data, 0, data.Length);
                }
            }
            return request.GetResponse() as HttpWebResponse;
        }


        /// <summary>  
        /// 创建POST方式的HTTP请求  
        /// </summary>  
        /// <param name="url">请求的URL</param>  
        /// <param name="parameters">随同请求POST的参数名称及参数值字典</param>  
        /// <param name="timeout">请求的超时时间</param>  
        /// <param name="userAgent">请求的客户端浏览器信息，可以为空</param>  
        /// <param name="requestEncoding">发送HTTP请求时所用的编码</param>  
        /// <param name="cookies">随同HTTP请求发送的Cookie信息，如果不需要身份验证可以为空</param>  
        /// <returns></returns>  
        public static HttpWebResponse CreatePostHttpResponse(string url, string data, int? timeout, string userAgent, Encoding requestEncoding, CookieCollection cookies, string contentType)
        {
            if (string.IsNullOrEmpty(url))
            {
                throw new ArgumentNullException("url");
            }
            if (requestEncoding == null)
            {
                throw new ArgumentNullException("requestEncoding");
            }
            HttpWebRequest request = null;
            //如果是发送HTTPS请求  
            if (url.StartsWith("https", StringComparison.OrdinalIgnoreCase))
            {
                ServicePointManager.ServerCertificateValidationCallback = new RemoteCertificateValidationCallback(CheckValidationResult);
                request = WebRequest.Create(url) as HttpWebRequest;
                request.ProtocolVersion = HttpVersion.Version10;
            }
            else
            {
                request = WebRequest.Create(url) as HttpWebRequest;
            }
            request.Method = "POST";
            request.ContentType = contentType;

            if (!string.IsNullOrEmpty(userAgent))
            {
                request.UserAgent = userAgent;
            }
            else
            {
                request.UserAgent = DefaultUserAgent;
            }

            if (timeout.HasValue)
            {
                request.Timeout = timeout.Value;
            }
            if (cookies != null)
            {
                request.CookieContainer = new CookieContainer();
                request.CookieContainer.Add(cookies);
            }
            //如果需要POST数据  
            if (!data.IsNullOrEmpty())
            {
                byte[] datas = requestEncoding.GetBytes(data);
                using (Stream stream = request.GetRequestStream())
                {
                    stream.Write(datas, 0, data.Length);
                }

            }
            return request.GetResponse() as HttpWebResponse;
        }

        private static bool CheckValidationResult(object sender, X509Certificate certificate, X509Chain chain, SslPolicyErrors errors)
        {
            return true; //总是接受  
        }


        /// <summary>
        /// Post方法请求服务器
        /// </summary>
        /// <param name="url"></param>
        /// <param name="parametersDict"></param>
        /// <param name="timeout"></param>
        /// <returns></returns>
        public static string DoPost(string url, Dictionary<string, string> parametersDict, int? timeout)
        {
            try
            {
                HttpWebResponse response = CreatePostHttpResponse(url, parametersDict, timeout, null, Encoding.UTF8, null, "application/x-www-form-urlencoded");
                using (Stream responseStream = response.GetResponseStream())
                {
                    using (StreamReader sReader = new StreamReader(responseStream))
                    {
                        return sReader.ReadToEnd();
                    }
                }
            }
            catch (Exception exp)
            {
                return null;
            }
        }

        /// <summary>
        /// Post方法请求服务器
        /// </summary>
        /// <param name="url"></param>
        /// <param name="parametersDict"></param>
        /// <param name="timeout"></param>
        /// <returns></returns>
        public static string DoPostJson(string url, string data, int? timeout)
        {
            try
            {
                HttpWebResponse response = CreatePostHttpResponse(url, data, timeout, null, Encoding.UTF8, null, "application/json");
                using (Stream responseStream = response.GetResponseStream())
                {
                    using (StreamReader sReader = new StreamReader(responseStream))
                    {
                        return sReader.ReadToEnd();
                    }
                }
            }
            catch (Exception exp)
            {
                return null;
            }
        }
    }

调用方法如下：
获得AGV信息

 string url = "http://127.0.0.1:55200/v1/vehicles";
 string retValue = HttpMethods.DoGet(url, null, 1000);
 //json解析

创建订单如下：

string data ="{"intendedVehicle":"AGV1","destinations":[{"locationName":"Point5","operation":"MOVE","properties":[ ]}]}";;
string orderName = "TOrder-" + DateTime.Today.ToString("yyyyMMdd") + Guid.NewGuid().ToString().Replace("-", "").ToUpper().Substring(0, 10);
string url = "http://127.0.0.1:55200/v1/transportOrders/" + orderName;
string str = HttpMethods.DoPostJson(url, data, 1000);

预知后事如何，请听下回分解