package com.zy.asrs.utils;
|
|
import com.core.common.Arith;
|
import com.core.common.Cools;
|
import com.zy.core.properties.SlaveProperties;
|
|
import java.text.DecimalFormat;
|
import java.util.ArrayList;
|
import java.util.List;
|
|
/**
|
* Created by vincent on 2020/8/27
|
*/
|
public class Utils {
|
|
private static final DecimalFormat fmt = new DecimalFormat("##0.00");
|
|
public static float scale(Float f){
|
if (f == null || f == 0f || Float.isNaN(f)) {
|
return 0f;
|
}
|
return (float) Arith.multiplys(2, f, 1);
|
}
|
|
public static String zerofill(String msg, Integer count){
|
if (msg.length() == count){
|
return msg;
|
} else if (msg.length() > count){
|
return msg.substring(0, 16);
|
} else {
|
StringBuilder msgBuilder = new StringBuilder(msg);
|
for (int i = 0; i<count-msg.length(); i++){
|
msgBuilder.insert(0,"0");
|
}
|
return msgBuilder.toString();
|
}
|
}
|
|
/**
|
* 判断是否为深库位
|
*/
|
public static boolean isDeepLoc(SlaveProperties slaveProperties, String locNo){
|
if (slaveProperties.isDoubleDeep()) {
|
int row = getRow(locNo);
|
return slaveProperties.getDoubleLocs().contains(row);
|
} else {
|
return false;
|
}
|
}
|
|
/**
|
* 判断是否为深库位
|
*/
|
public static boolean isDeepLoc(SlaveProperties slaveProperties, Integer row){
|
if (slaveProperties.isDoubleDeep()) {
|
return slaveProperties.getDoubleLocs().contains(row);
|
} else {
|
return false;
|
}
|
}
|
|
/**
|
* 判断是否为浅库位
|
*/
|
public static boolean isShallowLoc(SlaveProperties slaveProperties, String locNo){
|
if (slaveProperties.isDoubleDeep()) {
|
int row = getRow(locNo);
|
return !slaveProperties.getDoubleLocs().contains(row);
|
} else {
|
return false;
|
}
|
}
|
|
/**
|
* 判断是否为浅库位
|
*/
|
public static boolean isShallowLoc(SlaveProperties slaveProperties, Integer row){
|
if (slaveProperties.isDoubleDeep()) {
|
return !slaveProperties.getDoubleLocs().contains(row);
|
} else {
|
return false;
|
}
|
}
|
|
/**
|
* 获取 深库位对应的浅库位号
|
*/
|
public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
|
int row = getRow(deepLoc);
|
int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
|
int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
|
return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
|
}
|
|
/**
|
* 获取 深库位排对应的浅库位排
|
*/
|
public static Integer getShallowRow(SlaveProperties slaveProperties, Integer deepRow) {
|
int remainder = (int) Arith.remainder(deepRow, slaveProperties.getGroupCount());
|
return remainder == 1 ? (deepRow + 1) : (deepRow - 1);
|
}
|
|
/**
|
* 获取 浅库位对应的深库位号
|
*/
|
public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
|
int row = getRow(shallowLoc);
|
int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
|
int targetRow;
|
if (remainder == 2) {
|
targetRow = row - 1;
|
} else if (remainder == 3) {
|
targetRow = row + 1;
|
} else {
|
throw new RuntimeException(shallowLoc + "不是浅库位，系统繁忙");
|
}
|
return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
|
}
|
|
/**
|
* 获取 浅库位排对应的深库位排
|
*/
|
public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
|
int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
|
int targetRow;
|
if (remainder == 2) {
|
targetRow = shallowRow - 1;
|
} else if (remainder == 3) {
|
targetRow = shallowRow + 1;
|
} else {
|
throw new RuntimeException(shallowRow + "不是浅库位排，系统繁忙");
|
}
|
return targetRow;
|
}
|
|
/**
|
* 通过库位号获取 排
|
*/
|
public static int getRow(String locNo) {
|
if (!Cools.isEmpty(locNo)) {
|
return Integer.parseInt(locNo.substring(0, 2));
|
}
|
throw new RuntimeException("库位解析异常");
|
}
|
|
/**
|
* 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
|
*/
|
public static void toDeepIfEmptyByShallow(String shallowLoc) {
|
int row = getRow(shallowLoc);
|
int remainder = (int) Arith.remainder(row, 4);
|
int targetRow = 0;
|
if (remainder == 2) {
|
targetRow = row - 1;
|
} else if (remainder == 3) {
|
targetRow = row + 1;
|
} else {
|
throw new RuntimeException(shallowLoc + "不是浅库位，系统繁忙");
|
}
|
String targetLoc = zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
|
|
}
|
|
|
public static double[] getRgvPosNew(Integer devNo,double a, double b) {
|
double[] rgvPosNew = getRgvPosNew(a, b);
|
switch (devNo){
|
case 101:
|
case 102:
|
case 103:
|
case 104:
|
case 105:
|
case 106:
|
case 107:
|
case 108:
|
case 109:
|
case 110:
|
case 111:
|
rgvPosNew[0] = rgvPosNew[0] - 70;
|
break;
|
case 112:
|
case 113:
|
case 114:
|
case 115:
|
rgvPosNew[0] = rgvPosNew[0] + 50;
|
break;
|
case 116:
|
case 117:
|
case 118:
|
case 119:
|
case 120:
|
case 121:
|
case 122:
|
case 123:
|
case 124:
|
case 125:
|
case 126:
|
case 127:
|
case 128:
|
case 129:
|
case 130:
|
case 131:
|
case 132:
|
case 133:
|
rgvPosNew[1] = rgvPosNew[1] + 50;
|
break;
|
case 134:
|
rgvPosNew[1] = rgvPosNew[1] - 70;
|
break;
|
}
|
return rgvPosNew;
|
|
}
|
public static double[] getRgvPosNew(double a, double b) {
|
Object[][] intervals = {
|
// // 弧线区间（拐点116-115），控制点假设为(1125, 882)
|
// {680103, 731550, 1115, 882, 1215, 775, 1125, 882},
|
// 直线区间（0-134400）
|
// {起点, 终点, 类型, x1, y1, x2, y2,
|
{0.0, 120000.0, 0, 390.0, 750.0, 60.0, 750.0},
|
// 圆弧区间（拐点116-115）新参数：圆心(1115,775)
|
{120000.0, 127500.0, 2, 60.0, 750.0, 10.0, 800.0, 60.0, 800.0}, // 修正终点坐标
|
{127500.0, 134900.0, 2, 10.0, 800.0, 60.0, 850.0, 60.0, 800.0},
|
{134900.0, 680103.0,0, 60.0, 850.0, 1100.0, 850.0},
|
{680103.0, 731550.0, 2, 1100.0, 850.0, 1200.0, 750.0, 1100.0, 750.0},
|
{731550.0, 972950.0,0, 1200.0, 750.0, 1200.0, 100.0},
|
{972950.0, 1016193.0, 2, 1200.0, 100.0, 1150.0, 50.0, 1150.0, 100.0},
|
{1016193.0, 1063563.0, 2, 1150.0, 50.0, 1100.0, 100.0, 1150.0, 100.0},
|
{1063563.0, 1315250.0,0, 1100.0, 100.0, 1100.0, 700.0},
|
{1315250.0, 1322829.0, 2, 1100.0, 700.0, 1050.0, 750.0, 1050.0, 700.0},
|
{1322829.0, 1737000.0,0, 1050.0, 750.0, 390.0, 750.0},
|
};
|
|
for (Object[] interval : intervals) {
|
double start = (Double) interval[0];
|
double end = (Double) interval[1];
|
int type = (Integer) interval[2];
|
|
if (b >= start && b <= end) {
|
double t = (b - start) / (end - start);
|
|
// 根据不同类型计算坐标
|
switch (type) {
|
case 0: // 直线
|
return linearInterpolation(interval, t);
|
case 1: // 贝塞尔曲线
|
return bezierInterpolation(interval, t);
|
case 2: // 圆弧
|
return circularInterpolation(interval, t);
|
}
|
}
|
}
|
return new double[]{0, 0};
|
}
|
|
|
|
// 直线插值
|
private static double[] linearInterpolation(Object[] interval, double t) {
|
double x1 = (Double) interval[3];
|
double y1 = (Double) interval[4];
|
double x2 = (Double) interval[5];
|
double y2 = (Double) interval[6];
|
return new double[]{
|
x1 + t * (x2 - x1),
|
y1 + t * (y2 - y1)
|
};
|
}
|
|
// 贝塞尔曲线插值
|
private static double[] bezierInterpolation(Object[] interval, double t) {
|
double x0 = (Double) interval[3];
|
double y0 = (Double) interval[4];
|
double x2 = (Double) interval[5];
|
double y2 = (Double) interval[6];
|
double cx = (Double) interval[7];
|
double cy = (Double) interval[8];
|
return new double[]{
|
Math.pow(1-t, 2)*x0 + 2*(1-t)*t*cx + t*t*x2,
|
Math.pow(1-t, 2)*y0 + 2*(1-t)*t*cy + t*t*y2
|
};
|
}
|
|
// 圆弧插值（新增）
|
private static double[] circularInterpolation(Object[] interval, double t) {
|
// 参数解析
|
double startX = (Double) interval[3];
|
double startY = (Double) interval[4];
|
double endX = (Double) interval[5];
|
double endY = (Double) interval[6];
|
double centerX = (Double) interval[7];
|
double centerY = (Double) interval[8];
|
|
// 计算起始角度和终止角度
|
double startAngle = Math.atan2(startY - centerY, startX - centerX);
|
double endAngle = Math.atan2(endY - centerY, endX - centerX);
|
|
// 角度插值
|
double currentAngle = startAngle + t * (endAngle - startAngle);
|
double radius = Math.hypot(startX - centerX, startY - centerY);
|
|
return new double[]{
|
centerX + radius * Math.cos(currentAngle),
|
centerY + radius * Math.sin(currentAngle)
|
};
|
}
|
|
public static void main(String[] args) {
|
SlaveProperties slaveProperties = new SlaveProperties();
|
slaveProperties.setDoubleDeep(true);
|
List<Integer> list = new ArrayList<>();
|
list.add(1);list.add(4);list.add(5);list.add(8);list.add(9);list.add(12);
|
slaveProperties.setDoubleLocs(list);
|
slaveProperties.setGroupCount(4);
|
Integer deepRow = getDeepRow(slaveProperties, 6);
|
System.out.println(deepRow);
|
|
}
|
}
|
