package com.zy.asrs.utils;
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import com.zy.core.enums.RouteCollectCountType;
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import java.util.*;
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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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//问题2 周俊杰
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public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{
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// add(113);add(119);
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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(100);add(101);
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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(106);add(107);
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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(116);add(117);
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}};
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// RGV轨道正序（从上到下）
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public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = Arrays.asList(
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1004,
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1007,
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1010,
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1014,
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1018,
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1021,
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1024,
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1028,
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1031,
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1035
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);
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// 反序（直接反转生成）
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public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<>(TRACK_POSITION_POSITIVE_SEQUENCE);
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static {
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Collections.reverse(TRACK_POSITION_REVERSE_SEQUENCE);
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}
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//1楼战站点
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public static final List<Integer> TRACK_POSITION_ONE = Arrays.asList(
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1004, 1007, 1010, 1014, 1018, 1021, 1024, 1028, 1031, 1035,1042,1105,1106,1041,
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1038,1036,1108,1109
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);
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//2楼战站点
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public static final List<Integer> TRACK_POSITION_TWO = Arrays.asList(
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2003,2006,2009,2012,2015,2018,2021,2024,2027,2030,2037,2031
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);
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// 轨道映射（把映射站点替换成主站点）
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public static final Map<Integer, Integer> SITE_MAPPING = new HashMap<>();
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static {
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SITE_MAPPING.put(1042, 1004);
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SITE_MAPPING.put(1105, 1007);
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SITE_MAPPING.put(1106, 1010);
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SITE_MAPPING.put(1041, 1024);
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SITE_MAPPING.put(1038, 1028);
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SITE_MAPPING.put(1036, 1035);
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}
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// 获取轨道列表中实际站点
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private static Integer mapSite(Integer site) {
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return SITE_MAPPING.getOrDefault(site, site);
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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> getRouteDis(Integer groupStart, Integer groupEnd) {
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groupStart = mapSite(groupStart);
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groupEnd = mapSite(groupEnd);
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int startIdx = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart);
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int endIdx = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);
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if (startIdx == -1 || endIdx == -1) return null;
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boolean forward = startIdx < endIdx;
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List<Integer> route = forward ? TRACK_POSITION_POSITIVE_SEQUENCE : TRACK_POSITION_REVERSE_SEQUENCE;
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List<Integer> result = new ArrayList<>();
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boolean addFlag = false;
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for (Integer s : route) {
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s = mapSite(s);
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if (s.equals(groupStart)) addFlag = true;
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if (addFlag) result.add(s);
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if (s.equals(groupEnd)) break;
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}
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return result;
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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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public static List<Integer> getRouteOne(){
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List<Integer> groupRoute = new ArrayList<>();
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groupRoute = TRACK_POSITION_ONE;
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return groupRoute;
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}
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public static List<Integer> getRouteTwo(){
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List<Integer> groupRoute = new ArrayList<>();
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groupRoute = TRACK_POSITION_TWO;
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return groupRoute;
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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); //当前位置
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int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b); //地图开始位置
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int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c); //地图结束位置
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int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d); //锁结束位置
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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 Short CrnStaEnd(Integer endSta,Integer souSta) {
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switch (endSta) {
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case 100:
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case 102:
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case 111:
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if (souSta == 118 || souSta == 127){
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return (short)119;
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}
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return 149;
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default:
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return endSta.shortValue();
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}
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}
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public static Short SouStaEnd(Integer endSta,Integer souSta){
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if (souSta == 1103) {
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return (short)1105;
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}
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if(souSta == 1047){
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return (short)1042;
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}
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return souSta.shortValue();
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}
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public static void main(String[] arge){
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//{"endRoute":999,"lockEndRoute":124,"lockStartRoute":161,"nowRoute":161,"rgvNo":3,"rgvStatus":0,"startRoute":161} 3hao
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Integer i = RouteIndexFarMas(112, 161, 124, 161);
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System.out.println(i);
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//{"endRoute":119,"lockEndRoute":112,"lockStartRoute":100,"nowRoute":112,"rgvNo":2,"rgvStatus":0,"startRoute":100} 2
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Integer i1 = RouteIndexFarMas(112, 100, 112, 100);
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System.out.println(i1);
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// List<Integer> routeCurrent = getRoute(100, 124); //获取当前小车路径
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// List<Integer> routeOther = getRoute(149, 161); //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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//
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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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//
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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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//
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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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//
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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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//
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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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//
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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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// System.out.println("是否有交集：\t"+RouteAutoBoolean(100,101,124,149,161,153,true)); //是否有交集 true无交集 false有交集
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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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// List<Integer> routeDIFF = RouteMapCurrentFar(100,101,124,149);
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// System.out.println("当前路径最大集合：\t"+ routeDIFF);
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//
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// Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,124);
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// System.out.println("另一台小车最远站点：\t"+routeFarOther);
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//
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//
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// Integer[] integers = RouteIndexFarArr(100,101,124,149);
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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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}
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