package com.zy.asrs.utils;
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import java.util.ArrayList;
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import java.util.List;
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import static java.util.stream.Collectors.toList;
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import com.zy.core.enums.RouteCollectCountType;
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import springfox.documentation.spring.web.json.Json;
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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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public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{
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add(116);add(117);
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}};
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public static final List<Integer> MERGE_STA_NO_TWO = new ArrayList<Integer>() {{
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add(113);add(123);add(114);add(1142);
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}};
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public static final List<Integer> MERGE_STA_NO_THREE = new ArrayList<Integer>() {{
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add(107);add(118);add(108);add(119);
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}};
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public static final List<Integer> MERGE_STA_NO_FOUR = new ArrayList<Integer>() {{
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add(110);add(120);add(111);add(121);
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}};
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// 正序
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public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{
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add(101);add(102);add(104);add(122);add(105);add(107);add(118);add(108);add(119);add(110);add(120);add(111);add(121);add(113);add(123);add(114);add(1142);add(116);add(117);
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}};
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// 反序
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public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{
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add(117);add(116);add(1142);add(114);add(113);add(123);add(121);add(111);add(120);add(110);add(119);add(108);add(107);add(118);add(105);add(104);add(122);add(102);add(101);
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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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/*
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* 获取干涉最远站点
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* */
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public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
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List<Integer> staFall = new ArrayList<>();
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if (MERGE_STA_NO_One.contains(staNo)){
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staFall = MERGE_STA_NO_One;
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}else if (MERGE_STA_NO_TWO.contains(staNo)){
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staFall = MERGE_STA_NO_TWO;
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}else if (MERGE_STA_NO_THREE.contains(staNo)){
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staFall = MERGE_STA_NO_THREE;
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}else if (MERGE_STA_NO_FOUR.contains(staNo)){
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staFall = MERGE_STA_NO_FOUR;
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}else {
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return staNo;
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}
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int indexNo = 0;
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if (rgvNo==1){
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indexNo=staFall.size()-1;
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}
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return staFall.get(indexNo);
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}
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// 获取当前小车未行走的路线集合
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public static List<Integer> getRoute(Integer groupStart,Integer groupEnd){
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boolean sign = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart) < TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);
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List<Integer> result = new ArrayList<>();
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List<Integer> groupRoute = new ArrayList<>();
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if (sign){
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groupRoute = TRACK_POSITION_POSITIVE_SEQUENCE;
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}else {
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groupRoute = TRACK_POSITION_REVERSE_SEQUENCE;
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}
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if (groupRoute.contains(groupStart) && groupRoute.contains(groupEnd)) {
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sign = false;
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for (Integer route : groupRoute) {
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if (route.equals(groupStart)){
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sign=true;
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}
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if (route.equals(groupEnd)){
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result.add(route);
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break;
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}
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if (sign){
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result.add(route);
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}
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}
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}else {
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return null;
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}
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return result;
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}
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/*
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* 获取最远站点
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* */
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public static Integer RouteIndexFarMas(Integer a,Integer b,Integer c,Integer d){
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int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
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int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
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int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
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int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
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if (id==0){
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if (ia>ib){
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if (ia>ic){
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return a;
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}else {
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return c;
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}
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}else {
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if (ib>ic){
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return b;
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}else {
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return c;
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}
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}
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}else {
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if (ia<ib){
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if (ia<ic){
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return a;
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}else {
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return c;
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}
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}else {
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if (ib<ic){
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return b;
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}else {
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return c;
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}
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}
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}
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}
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public static Integer[] RouteIndexFarArr(Integer a,Integer b,Integer c,Integer d){
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int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
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int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
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int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
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int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
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return new Integer[]{ia,ib,ic,id};
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}
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/*
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* a 小车当前位置
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* b 小车任务开始位置
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* c 小车任务结束位置
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* d 小车初始位置
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* 获取最大路径差值
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* */
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public static List<Integer> RouteMapCurrentFar(Integer a,Integer b,Integer c,Integer d){
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Integer farStn = RouteIndexFarMas(a, b, c, d);
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return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
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}
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public static List<Integer> RouteMapCurrentFar(Integer farStn,Integer d){
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return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
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}
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/*
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* 另一台小车最远位置
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* */
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public static Integer RouteMapOtherFarStnNo(List<Integer> routeDIFF,Integer d){
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int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
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if (id==0){
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return routeDIFF.get(0);
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}else {
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int size = routeDIFF.size();
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return routeDIFF.get(size-1);
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}
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}
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//是否有交集
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public static boolean getRouteBoolean(List<Integer> groupCurrent,List<Integer> groupOther){
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for (Integer positionCurrent : groupCurrent){
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for (Integer positionOther : groupOther){
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if (positionCurrent.equals(positionOther)){
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return true;
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}
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}
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}
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return false;
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}
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//集合运算
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public static List<Integer> getRouteIntersection(List<Integer> groupCurrent, List<Integer> groupOther, RouteCollectCountType routeCollectCountType){
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switch (routeCollectCountType){
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case INTERSECTION:
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//交集
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return groupCurrent.stream().filter(item -> groupOther.contains(item)).collect(toList());
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case DIFFERENCESET:
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//差集
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return groupCurrent.stream().filter(item -> !groupOther.contains(item)).collect(toList());
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case UNION:
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//并集
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groupCurrent.addAll(groupOther);
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return groupCurrent;
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case DEDUPLICATIONUNION:
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//去重并集
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groupCurrent.addAll(groupOther);
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return groupCurrent.stream().distinct().collect(toList());
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default:
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return null;
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}
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}
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/*
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* a 小车当前位置
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* b 小车任务开始位置
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* c 小车任务结束位置
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* sign 另一个小车空闲标记
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* */
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public static boolean RouteAutoBoolean(Integer a,Integer b,Integer c,Integer aa,Integer bb,Integer cc,boolean idleOther){
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List<Integer> routeCurrent = getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);//并集
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List<Integer> routeOther = getRouteIntersection(getRoute(aa, cc), getRoute(bb, cc), RouteCollectCountType.DEDUPLICATIONUNION);//
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return !getRouteBoolean(routeCurrent, routeOther); //是否有交集
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}
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public static List<Integer> RouteAutoBoolean(Integer a,Integer b,Integer c){
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return getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);
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}
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public static void main(String[] arge){
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List<Integer> routeCurrent = getRoute(104, 119); //获取当前小车路径
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List<Integer> routeOther = getRoute(117, 118); //获取其它小车路径
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System.out.println("当前小车路径:\t"+routeCurrent);
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System.out.println("其它小车路径:\t"+routeOther);
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boolean routeBoolean = getRouteBoolean(routeCurrent, routeOther); //是否有交集
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System.out.println("是否有交集:\t"+routeBoolean);
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List<Integer> routeIntersection = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.INTERSECTION);//交集
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System.out.println("路径交集：\t"+routeIntersection);
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List<Integer> routeIntersection1 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DIFFERENCESET);//差集
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System.out.println("路径差集：\t"+routeIntersection1);
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List<Integer> routeIntersection2 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.UNION);//并集
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System.out.println("路径并集：\t"+routeIntersection2);
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List<Integer> routeIntersection3 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DEDUPLICATIONUNION);//去重并集
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System.out.println("路径去重并集：\t"+routeIntersection3);
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System.out.println(RouteAutoBoolean(101,104,119,114,116,120,true));
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List<Integer> routeDIFF = RouteMapCurrentFar(114, 104, 119, 117);
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System.out.println("当前路径最大集合：\t"+ routeDIFF);
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Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,117);
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System.out.println("另一台小车最远站点：\t"+routeFarOther);
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Integer[] integers = RouteIndexFarArr(114, 104, 119, 101);
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for (Integer integer:integers){
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System.out.println(integer);
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}
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}
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public static short RgvPosSta(Integer rgvId,Short posId){
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switch (rgvId){
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case 1:
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return RgvPosStaOne(posId);
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case 2:
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return RgvPosStaTwo(posId);
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default:
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return 1;
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}
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}
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public static short RgvPosStaOne(Short posId){
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switch (posId.intValue()){
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case 1:
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case 2:
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return 102;
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case 3:
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case 4:
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return 122;
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case 5:
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case 6:
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return 105;
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case 7:
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case 8:
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return 118;
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case 9:
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case 10:
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case 11:
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return 119;
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case 12:
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case 13:
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case 14:
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return 110;
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case 15:
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return 120;
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case 16:
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case 17:
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case 18:
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return 111;
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case 19:
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return 121;
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case 20:
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case 21:
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case 22:
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return 113;
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case 23:
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case 24:
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return 123;
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case 25:
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return 114;
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case 26:
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case 27:
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return 1142;
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case 28:
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return 116;
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default:
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return 1142;
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}
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}
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public static short RgvPosStaTwo(Short posId){
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switch (posId.intValue()){
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case 1:
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return 116;
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case 2:
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return 1142;
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case 3:
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case 4:
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return 114;
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case 5:
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return 123;
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case 6:
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case 7:
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case 8:
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return 113;
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case 9:
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case 10:
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return 121;
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case 11:
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case 12:
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case 13:
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case 14:
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return 120;
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case 15:
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return 110;
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case 16:
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case 17:
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case 18:
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return 119;
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case 19:
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return 108;
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case 20:
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case 21:
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case 22:
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return 107;
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case 23:
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case 24:
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return 105;
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case 25:
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case 26:
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case 27:
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case 28:
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return 104;
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default:
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return 104;
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}
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}
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public static Integer CrnStaEnd(Integer endSta,Integer souSta) {
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switch (souSta) {
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case 100:
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case 103:
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case 106:
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case 109:
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case 112:
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case 115:
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return souSta + 1;
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default:
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return endSta;
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}
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}
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}
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