package com.zy.asrs.utils;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasDevpPosition;
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import com.zy.asrs.entity.TaskWrk;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.core.enums.RouteCollectCountType;
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import com.zy.core.model.RgvSlave;
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import com.zy.system.service.UserService;
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import java.util.ArrayList;
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import java.util.Collections;
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import java.util.List;
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import static java.util.stream.Collectors.toList;
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/**
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* Created by Monkey D. Luffy on 2023/7/18
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*/
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public class RouteUtils {
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//排序 执行方向（面朝轨道 定位值左小右大） 0:左 小 1:右 大
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public static List<Integer>[] gradeRange(List<Integer> staNoList, List<BasDevpPosition> basDevpPositionList, boolean itSmall) {
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List<Integer>[] avoidRangeArray = new ArrayList[2];
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Integer[] rangeList = new Integer[staNoList.size()];
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List<Integer> rangeList1 = new ArrayList<>();
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List<Integer> rangeList2 = new ArrayList<>();
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int i = 0;
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for (BasDevpPosition basDevpPosition : basDevpPositionList) {
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for (Integer staNo : staNoList) {
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if (basDevpPosition.getDevNo().equals(staNo)) {
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rangeList[i] = staNo;
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i = i + 1;
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break;
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}
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}
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}
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boolean sign = true;
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for (int j = 0; j < rangeList.length; j++) {
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if (itSmall) {
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if (sign) {
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rangeList1.add(rangeList[j]);
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} else {
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rangeList2.add(rangeList[j]);
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}
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if (sign && j >= rangeList.length / 2) {
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sign = false;
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}
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} else {
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if (sign && j >= rangeList.length / 2) {
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sign = false;
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}
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if (sign) {
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rangeList1.add(rangeList[j]);
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} else {
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rangeList2.add(rangeList[j]);
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}
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}
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}
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avoidRangeArray[0] = rangeList1;
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avoidRangeArray[1] = rangeList2;
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return avoidRangeArray;
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}
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//获取在范围的站点
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public static List<Integer> belongToRange(List<Integer> staNoList, Long[] avoid, List<BasDevpPosition> basDevpPositions) {
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List<Integer> siteList = new ArrayList<>();
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for (BasDevpPosition basDevpPosition : basDevpPositions) {
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if (new TrackRangeUtils().avoidRange(basDevpPosition.getPlcPosition(), avoid)) {
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for (Integer staNo : staNoList) {
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if (basDevpPosition.getDevNo().equals(staNo)) {
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siteList.add(staNo);
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break;
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}
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}
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}
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}
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return siteList;
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}
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//提取站点集合
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public static List<Integer> BasDevpPositionExtractSites(List<BasDevpPosition> basDevpPositions) {
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List<Integer> siteList = new ArrayList<>();
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for (BasDevpPosition basDevpPosition : basDevpPositions) {
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if (!siteList.contains(basDevpPosition.getDevNo())) {
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siteList.add(basDevpPosition.getDevNo());
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}
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}
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return siteList;
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}
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//提取站点集合//就近排序
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public static List<Integer> SortNearby(List<Integer> staNoList, Long rgvNowPos, List<BasDevpPosition> basDevpPositionList) {
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List<Integer> siteList = new ArrayList<>();
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List<BasDevpPosition> basDevpPositions = devpNoSort(basDevpPositionList, rgvNowPos);
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for (BasDevpPosition basDevpPosition : basDevpPositions) {
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for (Integer staNo : staNoList) {
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if (basDevpPosition.getDevNo().equals(staNo)) {
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siteList.add(staNo);
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break;
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}
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}
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}
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return siteList;
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}
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//站点过滤
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public static List<BasDevpPosition> devpNoSort(List<BasDevpPosition> devpPositionList, Long rgvNowPos) {
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List<BasDevpPosition> basDevpPositions = new ArrayList<>();
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List<BasDevpPosition> basDevpPositionSort = new ArrayList<>();
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ArrayList<Long> arrayList = new ArrayList<>();
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for (BasDevpPosition basDevpPosition : devpPositionList) {
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long position = Math.abs(basDevpPosition.getPlcPosition() - rgvNowPos);
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BasDevpPosition devpPosition = new BasDevpPosition(basDevpPosition, position);
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basDevpPositions.add(devpPosition);
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arrayList.add(position);
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}
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Collections.sort(arrayList); // 升序排序
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for (Long position : arrayList) {
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for (BasDevpPosition basDevpPosition : basDevpPositions) {
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if (basDevpPosition.getPlcPosition().equals(position)) {
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basDevpPositionSort.add(basDevpPosition);
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basDevpPositions.remove(basDevpPosition);
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break;
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}
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}
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}
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return basDevpPositionSort;
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}
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//检测是否在范围
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public static boolean CheckIfItIsWithinTheRange(List<Integer> staNoList, Long staNoNowPos, List<BasDevpPosition> basDevpPositionList, boolean itSmall) {
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List<Integer> siteList = new ArrayList<>();
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Long maxOrMin = 0L;
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Integer[] rangeList = new Integer[staNoList.size()];
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int i = 0;
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for (BasDevpPosition basDevpPosition : basDevpPositionList) {
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for (Integer staNo : staNoList) {
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if (basDevpPosition.getDevNo().equals(staNo)) {
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rangeList[i] = staNo;
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i = i + 1;
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break;
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}
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}
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}
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if (itSmall) {
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for (BasDevpPosition basDevpPosition : basDevpPositionList) {
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if (basDevpPosition.getDevNo().equals(rangeList[rangeList.length - 1])) {
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maxOrMin = basDevpPosition.getPlcPosition();
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break;
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}
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}
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if (maxOrMin == 0){
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return false;
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}
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return staNoNowPos <= maxOrMin+50;
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}
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for (BasDevpPosition basDevpPosition : basDevpPositionList) {
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if (basDevpPosition.getDevNo().equals(rangeList[0])) {
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maxOrMin = basDevpPosition.getPlcPosition();
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break;
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}
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}
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if (maxOrMin == 0){
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return false;
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}
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return staNoNowPos >= maxOrMin-50;
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}
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public static long absoluteDifference(Long a, Long b) {
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if (a == null || b == null) {
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a = 0L;
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b = 0L;
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// throw new IllegalArgumentException("");
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System.out.println("a or b is null");
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}
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return Math.abs(a - b);
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}
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}
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