package com.zy.asrs.utils;
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import com.alibaba.fastjson.JSON;
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import com.core.common.Arith;
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import com.core.common.Cools;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.impl.MainServiceImpl;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.utils.NavigateMapData;
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import com.zy.common.utils.NavigatePositionConvert;
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import com.zy.common.utils.NavigateUtils;
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import com.zy.core.Slave;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.ShuttleRunDirection;
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import com.zy.core.enums.ShuttleTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.command.ShuttleCommand;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.ShuttleThread;
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import java.text.DecimalFormat;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Collections;
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import java.util.List;
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/**
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* Created by vincent on 2020/8/27
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*/
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public class Utils {
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public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(1);add(2);add(3);add(4);
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}};
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public static final List<Integer> SECOND_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(5);add(6);add(7);add(8);add(9);add(10);add(11);
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}};
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private static final DecimalFormat fmt = new DecimalFormat("##0.00");
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public static float scale(Float f){
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if (f == null || f == 0f || Float.isNaN(f)) {
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return 0f;
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}
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return (float) Arith.multiplys(2, f, 1);
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}
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public static String zerofill(String msg, Integer count){
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if (msg.length() == count){
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return msg;
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} else if (msg.length() > count){
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return msg.substring(0, 16);
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} else {
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StringBuilder msgBuilder = new StringBuilder(msg);
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for (int i = 0; i<count-msg.length(); i++){
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msgBuilder.insert(0,"0");
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}
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return msgBuilder.toString();
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}
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}
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public static Integer getGroupRow(String locNo, Boolean pakin){
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int row = getRow(locNo);
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return getGroupRow(row, pakin);
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}
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public static List<String> getGroupLocNo(String locNo){
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int row = getRow(locNo);
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List<String> result = new ArrayList<>();
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if (FIRST_GROUP_ROW_LIST.contains(row)) {
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for (Integer groupRow : FIRST_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
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}
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} else if (SECOND_GROUP_ROW_LIST.contains(row)) {
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for (Integer groupRow : SECOND_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
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}
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}
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return result;
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}
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public static Integer getGroupRow(Integer row, Boolean pakin) {
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if (FIRST_GROUP_ROW_LIST.contains(row)) {
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return 4;
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} else if (SECOND_GROUP_ROW_LIST.contains(row)) {
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return 5;
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} else {
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return 0;
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}
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// if (pakin) {
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// if (FIRST_GROUP_ROW_LIST.contains(row)) {
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// return 2;
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// } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
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// return 18;
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// } else {
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// return 0;
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// }
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// } else {
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// if (FIRST_GROUP_ROW_LIST.contains(row)) {
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// return 12;
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// } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
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// return 30;
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// } else {
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// return 0;
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// }
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// }
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}
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/**
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* 判断库位是否为穿梭库位
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* @param locNo
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* @return
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*/
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public static Boolean isShuttle(String locNo) {
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int row = Utils.getRow(locNo);
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if (row >= 2 && row <= 12) {
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return Boolean.TRUE;
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}
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return Boolean.FALSE;
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}
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// -------------------------------------------------------------------------------------------------------------------
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/**
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* 判断是否为深库位
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*/
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public static boolean isDeepLoc(SlaveProperties slaveProperties, String locNo){
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if (slaveProperties.isDoubleDeep()) {
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int row = getRow(locNo);
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return slaveProperties.getDoubleLocs().contains(row);
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} else {
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return false;
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}
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}
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/**
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* 判断是否为深库位
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*/
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public static boolean isDeepLoc(SlaveProperties slaveProperties, Integer row){
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if (slaveProperties.isDoubleDeep()) {
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return slaveProperties.getDoubleLocs().contains(row);
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} else {
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return false;
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}
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}
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/**
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* 判断是否为浅库位
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*/
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public static boolean isShallowLoc(SlaveProperties slaveProperties, String locNo){
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if (slaveProperties.isDoubleDeep()) {
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int row = getRow(locNo);
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return !slaveProperties.getDoubleLocs().contains(row);
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} else {
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return false;
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}
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}
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/**
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* 判断是否为浅库位
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*/
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public static boolean isShallowLoc(SlaveProperties slaveProperties, Integer row){
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if (slaveProperties.isDoubleDeep()) {
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return !slaveProperties.getDoubleLocs().contains(row);
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} else {
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return false;
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}
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}
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/**
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* 获取 深库位对应的浅库位号
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*/
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public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
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int row = getRow(deepLoc);
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int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
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int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
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return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
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}
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/**
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* 获取 深库位排对应的浅库位排
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*/
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public static Integer getShallowRow(SlaveProperties slaveProperties, Integer deepRow) {
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int remainder = (int) Arith.remainder(deepRow, slaveProperties.getGroupCount());
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return remainder == 1 ? (deepRow + 1) : (deepRow - 1);
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}
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/**
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* 获取 浅库位对应的深库位号
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*/
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public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
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int row = getRow(shallowLoc);
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int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
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int targetRow;
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if (remainder == 2) {
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targetRow = row - 1;
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} else if (remainder == 1) {
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targetRow = row + 1;
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} else {
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throw new RuntimeException(shallowLoc + "不是浅库位，系统繁忙");
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}
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return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
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}
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/**
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* 获取 浅库位排对应的深库位排
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*/
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public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
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int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
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int targetRow;
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if (remainder == 2) {
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targetRow = shallowRow - 1;
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} else if (remainder == 1) {
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targetRow = shallowRow + 1;
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} else {
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throw new RuntimeException(shallowRow + "不是浅库位排，系统繁忙");
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}
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return targetRow;
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}
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/**
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* 通过库位号获取 排
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*/
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public static int getRow(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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return Integer.parseInt(locNo.substring(0, 2));
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}
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throw new RuntimeException("库位解析异常");
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}
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/**
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* 通过库位号获取 列
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*/
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public static int getBay(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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return Integer.parseInt(locNo.substring(2, 5));
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}
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throw new RuntimeException("库位解析异常");
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}
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/**
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* 通过库位号获取 层
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*/
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public static int getLev(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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return Integer.parseInt(locNo.substring(5, 7));
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}
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throw new RuntimeException("库位解析异常");
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}
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/**
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* 通过排列层拼接出库位号
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*/
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public static String append(int row, int bay, int lev) {
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return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
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}
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/**
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* 当检索到双深库位的浅库位时，如果深库位无货，则放入对应的深库位
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*/
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public static void toDeepIfEmptyByShallow(String shallowLoc) {
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int row = getRow(shallowLoc);
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int remainder = (int) Arith.remainder(row, 4);
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int targetRow = 0;
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if (remainder == 2) {
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targetRow = row - 1;
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} else if (remainder == 3) {
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targetRow = row + 1;
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} else {
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throw new RuntimeException(shallowLoc + "不是浅库位，系统繁忙");
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}
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String targetLoc = zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
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}
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public static String getLocNo(Number row, Number bay, Number lev) {
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return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
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}
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//出入库站点号转换对应楼层
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public static Integer outInStaNoToLev(Integer distSta) {
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Integer distLev = 1;//目标楼层
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switch (distSta) {
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case 102:
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distLev = 2;//输送线楼层
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case 105:
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distLev = 1;//一楼
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case 106:
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distLev = 3;//二楼
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case 107:
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distLev = 4;//三楼
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case 108:
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distLev = 5;//四楼
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}
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return distLev;
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}
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//楼层转换对应出入库站点号
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public static Integer levToOutInStaNo(Integer lev) {
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Integer staNo = null;//站点号
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switch (lev) {
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case 1:
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staNo = 105;
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break;
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case 2://输送线层
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staNo = 105;
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break;
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case 3:
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staNo = 106;
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break;
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case 4:
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staNo = 107;
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break;
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case 5:
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staNo = 108;
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break;
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}
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return staNo;
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}
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//提升机位置反馈转换出入库站点库位号
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public static String liftArrivalToOutInStaLocNo(Short liftArrival) {
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String locNo = null;
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switch (liftArrival) {
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case 1:
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locNo = "1800201";
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break;
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case 4:
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locNo = "1800202";
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break;
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case 8:
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locNo = "1800203";
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break;
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case 16:
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locNo = "1800204";
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break;
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}
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return locNo;
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}
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//楼层转换对应出入库站点库位号
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public static String levToOutInStaLocNo(Integer lev) {
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String locNo = null;
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if (lev >= 2) {
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lev++;
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}
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switch (lev) {
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case 1:
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locNo = "1800201";
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break;
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case 3:
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locNo = "1800202";
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break;
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case 4:
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locNo = "1800203";
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break;
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case 5:
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locNo = "1800204";
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break;
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}
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return locNo;
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}
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public static void main(String[] args) {
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System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101")));
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}
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// 外侧方向的货位 优先入库方向/优先出库方向 ===>> 反之
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public static List<String> getGroupOutsideLoc(String locNo){
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int row = getRow(locNo);
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List<String> result = new ArrayList<>();
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if (SECOND_GROUP_ROW_LIST.contains(row)) {
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for (Integer integer : SECOND_GROUP_ROW_LIST) {
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if (integer < row) {
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result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
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} else {
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break;
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}
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}
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} else if (FIRST_GROUP_ROW_LIST.contains(row)) {
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List<Integer> clone = Arrays.asList(new Integer[FIRST_GROUP_ROW_LIST.size()]);
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Collections.copy(clone, FIRST_GROUP_ROW_LIST);
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Collections.reverse(clone);
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for (Integer integer : clone) {
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if (integer > row) {
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result.add(zerofill(String.valueOf(integer), 2) + locNo.substring(2));
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} else {
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break;
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}
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}
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} else {
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// throw new RuntimeException("库位解析异常");
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}
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if (!Cools.isEmpty(result)) {
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Collections.reverse(result);
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}
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return result;
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}
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//获取除白名单外的指定楼层全部穿梭车xy坐标点
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public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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ArrayList<int[]> list = new ArrayList<>();
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for (ShuttleSlave slave : slaveProperties.getShuttle()) {
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if (slave.getId().intValue() == whiteShuttle) {
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continue;//跳过白名单
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}
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//获取穿梭车所在节点位置
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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continue;
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}
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if (shuttleProtocol.getLocNo() == null) {
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continue;
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}
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if (lev != Utils.getLev(shuttleProtocol.getLocNo())) {
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continue;//楼层不同
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}
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int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getLocNo());//通过库位号获取xy坐标
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list.add(xyPosition);
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}
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return list;
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}
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//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
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public static boolean checkShuttlePath(List<NavigateNode> nodes, Integer shuttleId) {
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boolean flag = false;
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int shuttleX = -1;
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int shuttleY = -1;
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int shuttleZ = -1;
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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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if (nodes == null) {
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return false;
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}
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if (nodes.size() == 0) {
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return false;
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}
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NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());//获取地图数据
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int[][] data = mapData.getData(-1, null, Utils.getShuttlePoints(shuttleId, nodes.get(0).getZ()));
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for (NavigateNode node : nodes) {
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int x = node.getX();
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int y = node.getY();
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if (data[x][y] == 66) {//判断该路径是否有小车
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flag = true;//存在小车
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shuttleX = x;
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shuttleY = y;
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shuttleZ = node.getZ();
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break;
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}
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}
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if (flag) {
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//检测到路径存在其他小车
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//搜索一条没有小车的空巷道
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//获取小车坐标二维码
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Short shuttlePosition = NavigatePositionConvert.xyToPosition(shuttleX, shuttleY, shuttleZ);
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LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttlePosition));
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//获取小车线程
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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ShuttleThread currentShuttleThread = null;
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for (ShuttleSlave slave : slaveProperties.getShuttle()) {
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//获取穿梭车所在节点位置
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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continue;
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}
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if (shuttleProtocol.getCurrentCode().intValue() == Integer.parseInt(shuttleLocMast.getQrCodeValue())) {
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//小车坐标和线程获取的小车坐标一致
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currentShuttleThread = shuttleThread;
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break;
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}
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}
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if (currentShuttleThread == null) {
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//没找到小车
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return false;
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}
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//搜索一条没有小车的空巷道，并调度小车
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ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(shuttleZ, shuttleId, currentShuttleThread, null);//shuttleId搜索时需要排除的车辆id，currentShuttleThread是需要被调度的车辆线程
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if (assignCommand == null) {
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return false;
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}
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//下发任务
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MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
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return false;
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}
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return true;
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}
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//搜索一条没有小车的空巷道，并返回移动小车的命令
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public static ShuttleAssignCommand searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, ShuttleThread shuttleThread, String startLocNo) {
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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
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if (shuttleThread == null) {
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return null;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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return null;
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}
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NavigateMapData mapData = new NavigateMapData(z);//获取地图数据
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int[][] data = mapData.getData(-1, null, currentShuttleId == null ? null : Utils.getShuttlePoints(0, z));//载入全部车辆
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int distY = -1;
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int distX = -1;
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int distZ = -1;
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for (int y = 3; y <= 25; y++) {
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boolean searchFlag = true;
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for (int x = 20; x <= 23; x++) {
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if (data[x][y] < 0 || data[x][y] == 66) {
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searchFlag = false;//该巷道有禁用节点或有小车
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break;
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}
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}
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if (searchFlag) {
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//搜索出空巷道
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distY = y;
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distX = 20;
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distZ = z;
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break;
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}
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}
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if (distY != -1) {
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//获取避让坐标二维码
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Short distPosition = NavigatePositionConvert.xyToPosition(distX, distY, distZ);
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LocMast distLocMast = locMastService.queryByQrCode(String.valueOf(distPosition));
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if (distLocMast == null) {
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return null;
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}
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if (startLocNo == null) {
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//获取小车坐标二维码
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LocMast shuttleLocMast = locMastService.queryByQrCode(String.valueOf(shuttleProtocol.getCurrentCode()));
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if (shuttleLocMast == null) {
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return null;
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}
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startLocNo = shuttleLocMast.getLocNo();
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}
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//创建分配命令
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ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
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assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
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assignCommand.setTaskNo((short) 9998);//任务号
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assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id.shortValue());//移动到目标库位
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assignCommand.setSourceLocNo(startLocNo);//源库位
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//分配目标库位
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shuttleProtocol.setLocNo(distLocMast.getLocNo());
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//目标库位
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assignCommand.setLocNo(distLocMast.getLocNo());
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//小车移动到目标位置
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List<ShuttleCommand> commands = mainServiceImpl.shuttleAssignCommand(startLocNo, distLocMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
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if (commands == null) {
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return null;
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}
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assignCommand.setCommands(commands);
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return assignCommand;
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}
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return null;
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}
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}
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