package com.zy.asrs.utils;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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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.BasShuttle;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.BasShuttleService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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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.service.CommonService;
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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.common.utils.ShuttleDispatchUtils;
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import com.zy.core.DevpThread;
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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.NyShuttleProtocol;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.NyShuttleThread;
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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.*;
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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);
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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(3);add(4);
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}};
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public static final List<Integer> THIRD_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(6);add(7);
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}};
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public static final List<Integer> FOURTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(8);
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}};
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public static final List<Integer> FIFTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(10);add(11);
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}};
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public static final List<Integer> SIXTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(13);add(14);add(15);add(16);
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}};
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public static final List<Integer> SEVENTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(13);add(14);
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}};
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public static final List<Integer> EIGHTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
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add(16);
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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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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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public static void main(String[] args) {
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System.out.println(JSON.toJSONString(getGroupLoc("1606101")));
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}
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/**
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* 获取库位组
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* @param locNo 库位号
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*/
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public static List<String> getGroupLoc(String locNo){
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int row = getRow(locNo);
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int bay = getBay(locNo);
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if (FIRST_GROUP_ROW_LIST.contains(row)) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : FIRST_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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return result;
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}
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if (SECOND_GROUP_ROW_LIST.contains(row)) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : SECOND_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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return result;
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}
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if (THIRD_GROUP_ROW_LIST.contains(row)) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : THIRD_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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Collections.reverse(result);
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return result;
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}
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if (FOURTH_GROUP_ROW_LIST.contains(row)) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : FOURTH_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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return result;
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}
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if (FIFTH_GROUP_ROW_LIST.contains(row)) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : FIFTH_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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return result;
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}
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if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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Collections.reverse(result);
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return result;
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}
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if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : SEVENTH_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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return result;
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}
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if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
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List<String> result = new ArrayList<>();
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for (Integer row0 : EIGHTH_GROUP_ROW_LIST) {
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result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
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}
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return result;
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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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//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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BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
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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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NyShuttleThread shuttleThread = (NyShuttleThread) 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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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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continue;
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}
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String currentLocNo = shuttleProtocol.getCurrentLocNo();
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if (currentLocNo == null) {
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//小车没有库位号数据，从数据库中取
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BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
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if (basShuttle == null || basShuttle.getPoint() == null) {
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continue;
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}
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NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
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currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
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}
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if (lev != Utils.getLev(currentLocNo)) {
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continue;//楼层不同
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}
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if (shuttleProtocol.getCurrentLocNo() == null) {
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continue;
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}
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int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//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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//搜索一条没有小车的空巷道，并调度小车
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public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
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CommonService commonService = SpringUtils.getBean(CommonService.class);
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ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
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if (shuttleThread == null) {
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return false;
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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return false;
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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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//获取避让库位
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String distLocNo = null;
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for (int y = 20; y <= 56; y++) {
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boolean searchFlag = true;
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for (int x = 10; x <= 11; 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 = 11;
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distZ = z;
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//获取避让库位
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String locNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
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LocMast distLocMast = locMastService.queryByLoc(locNo);
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if (distLocMast == null) {
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continue;
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}
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//判断该库位是否存在工作档
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EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
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wrapper.eq("loc_no", locNo);
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WrkMast wrkMast = wrkMastService.selectOne(wrapper);
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if (wrkMast != null) {
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continue;//存在工作档跳过该库位
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}
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distLocNo = locNo;
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break;
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}
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}
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if (distLocNo != null) {
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//调度小车到避让位置
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return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
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}
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return false;
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}
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//检测楼层是否有穿梭车
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public static boolean checkLevHasShuttle(Integer lev) {
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
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//获取四向穿梭车线程
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
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if (shuttleThread == null) {
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continue;
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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continue;
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}
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String currentLocNo = shuttleProtocol.getCurrentLocNo();
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if (currentLocNo == null) {
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continue;
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}
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if (lev == Utils.getLev(currentLocNo)) {
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return true;//指定楼层有穿梭车
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}
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}
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return false;//指定楼层没有穿梭车
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}
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//检测库位组是否存在小车，存在返回小车号。
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public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
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if (groupLoc == null) {
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return null;
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}
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if (groupLoc.isEmpty()) {
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return null;
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}
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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if (slaveProperties == null) {
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return null;
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}
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for (String loc : groupLoc) {
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for (ShuttleSlave slave : slaveProperties.getShuttle()) {
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NyShuttleThread shuttleThread = (NyShuttleThread) 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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NyShuttleProtocol 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.getCurrentLocNo() == null) {
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continue;
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}
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if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
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//存在小车
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return slave.getId();
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}
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}
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}
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return null;
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}
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//通过提升机号和楼层获取出入库模式
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public static Integer getOutInModelByLift(Integer liftNo, Integer lev) {
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ArrayList<Integer> lev1 = new ArrayList<Integer>() {{
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add(100);add(103);
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add(105);
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}};
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ArrayList<Integer> lev2 = new ArrayList<Integer>() {{
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add(200);add(203);
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add(205);
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}};
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ArrayList<Integer> lev3 = new ArrayList<Integer>() {{
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add(341);add(346);
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}};
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Integer staNo = null;
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if (lev <= 4) {
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staNo = lev1.get(liftNo - 1);
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} else if (lev >= 5 && lev <= 7) {
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staNo = lev2.get(liftNo - 1);
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} else if ((lev >=8 && lev <= 10) && liftNo != 1) {
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staNo = lev3.get(liftNo - 2);
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}
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if (staNo != null) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(staNo);
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if (staProtocol == null) {
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return null;
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}
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if (staNo == 100 || staNo == 200) {//1号提升机100站和200站默认全是出库模式
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return 2;//出库模式
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}
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if (staNo == 341) {
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return 1;//341站默认只能入库模式
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}
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if (staProtocol.getOutInModel() == null) {
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return null;//没有出入库信号
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}
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return staProtocol.getOutInModel().intValue();
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}
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return null;
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}
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}
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