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8 天以前 4c938d05b234e6142e94869eaec5e6d86efee382

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -35,6 +35,91 @@
        return (float) Arith.multiplys(2, f, 1);
    }

    public static int armStaNo(int armNo,int staNo) {
        switch (armNo){
            case 1:
                switch (staNo){
                    case 0:
                        return 7;
                    case 1:
                        return 8;
                    case 2:
                        return 101;
                    case 3:
                        return 102;
                    default:
                        return 0;
                }
            case 2:
                switch (staNo){
                    case 0:
                        return 5;
                    case 1:
                        return 6;
                    case 2:
                        return 101;
                    case 3:
                        return 102;
                    default:
                        return 0;
                }
            case 3:
                switch (staNo){
                    case 0:
                        return 3;
                    case 1:
                        return 4;
                    case 2:
                        return 101;
                    case 3:
                        return 102;
                    default:
                        return 0;
                }
            case 4:
                switch (staNo){
                    case 0:
                        return 1;
                    case 1:
                        return 2;
                    case 2:
                        return 101;
                    case 3:
                        return 102;
                    default:
                        return 0;
                }
            case 5:
                switch (staNo){
                    case 0:
                        return 11;
                    case 1:
                        return 12;
                    case 2:
                        return 101;
                    case 3:
                        return 102;
                    default:
                        return 0;
                }
            case 6:
                switch (staNo){
                    case 0:
                        return 13;
                    case 1:
                        return 14;
                    case 2:
                        return 101;
                    case 3:
                        return 102;
                    default:
                        return 0;
                }
            default:
                return 0;
        }
    }

    public static String zerofill(String msg, Integer count) {
        if (msg.length() == count) {
            return msg;
@@ -123,9 +208,17 @@
     */
    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);
        boolean deepLocLeft = isDeepLocLeft(slaveProperties, row);
        boolean deepLocRight = isDeepLocRight(slaveProperties, row);
        int targetRow;
        if (deepLocLeft) {
            targetRow = row + 1;
        } else if (deepLocRight) {
            targetRow = row - 1;
        } else {
            throw new RuntimeException(deepLoc + "不是浅库位，系统繁忙");
        }
        return zerofill(String.valueOf(targetRow), 2) + deepLoc.substring(2);
    }

    /**
@@ -141,30 +234,45 @@
     */
    public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
        int row = getRow(shallowLoc);
        int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
        boolean deepLocLeft = isDeepLocLeft(slaveProperties, row-1);
        boolean deepLocRight = isDeepLocRight(slaveProperties, row+1);
        int targetRow;
        if (remainder == 2) {
        if (deepLocLeft) {
            targetRow = row - 1;
        } else if (remainder == 3) {
        } else if (deepLocRight) {
            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);
    }
//    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());
        boolean deepLocLeft = isDeepLocLeft(slaveProperties, shallowRow-1);
        boolean deepLocRight = isDeepLocRight(slaveProperties, shallowRow+1);
        int targetRow;
        if (remainder == 2) {
        if (deepLocLeft) {
            targetRow = shallowRow - 1;
        } else if (remainder == 3) {
        } else if (deepLocRight) {
            targetRow = shallowRow + 1;
        } else {
            throw new RuntimeException(shallowRow + "不是浅库位排，系统繁忙");
            throw new RuntimeException(shallowRow + "不是浅库位，系统繁忙");
        }
        return targetRow;
    }
@@ -315,14 +423,14 @@
            if (curRow < sRow || curRow > (crnNumber * 4 + sRow - 1)) {
                throw new CoolException("库位排号异常：排号：" + curRow);
            }
            if ((curRow - sRow) % 4 == 0) {
            if ((curRow - (sRow-1)) % 4 == 0) {
                necessaryParameters[1] = curRow;    //curRow   最深库位排
                necessaryParameters[2] = (curRow - sRow + 2) / 4 + sCrnNo - 1;     //crnNo     堆垛机号
                necessaryParameters[3] = curRow + 1;    //nearRow  最浅库位排
            } else if ((curRow - sRow + 1) % 4 == 0) {
                necessaryParameters[1] = curRow;    //curRow   最深库位排
                necessaryParameters[2] = (curRow - sRow + 1) / 4 + sCrnNo - 1;     //crnNo     堆垛机号
                necessaryParameters[2] = (curRow - (sRow-1)) / 4 + sCrnNo - 1;     //crnNo     堆垛机号
                necessaryParameters[3] = curRow - 1;    //nearRow  最浅库位排
            } else if ((curRow - (sRow-1)-1) % 4 == 0) {
                necessaryParameters[1] = curRow;    //curRow   最深库位排
                necessaryParameters[2] = (curRow - (sRow-1)-1) / 4 + sCrnNo;     //crnNo     堆垛机号
                necessaryParameters[3] = curRow + 1;    //nearRow  最浅库位排
            } else {
                throw new CoolException("库位排号异常：排号：" + curRow);
            }