自动化立库仓库-WCS系统
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1
7 天以前 aeaf3e43e425ef0de84c1819f318f20e90471f90 
 src/main/java/com/zy/asrs/utils/RouteUtils.java


@@ -2,8 +2,7 @@




import com.zy.core.enums.RouteCollectCountType;




import java.util.ArrayList;


import java.util.List;


import java.util.*;




import static java.util.stream.Collectors.toList;




@@ -14,29 +13,66 @@




    //问题2  周俊杰


    public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{


        add(113);add(119);


//        add(113);add(119);


    }};




    public static final List<Integer> MERGE_STA_NO_TWO = new ArrayList<Integer>() {{


//        add(116);add(117);


//        add(100);add(101);


    }};




    public static final List<Integer> MERGE_STA_NO_THREE = new ArrayList<Integer>() {{


//        add(116);add(117);


//        add(106);add(107);


    }};




    public static final List<Integer> MERGE_STA_NO_FOUR = new ArrayList<Integer>() {{


//        add(116);add(117);


    }};




//    正序


    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{


        add(161);add(157);add(153);add(149);add(124);add(119);add(113);add(999);add(112);add(107);add(106);add(101);add(100);


    }};


//    反序


    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{


        add(100);add(101);add(106);add(107);add(112);add(999);add(113);add(119);add(124);add(149);add(153);add(157);add(161);


    }};


    // RGV轨道正序（从上到下）


    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = Arrays.asList(


        1004,


        1007,


        1010,


        1014,


        1018,


        1021,


        1024,


        1028,


        1031,


        1035


    );




    // 反序（直接反转生成）


    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<>(TRACK_POSITION_POSITIVE_SEQUENCE);


    static {


        Collections.reverse(TRACK_POSITION_REVERSE_SEQUENCE);


    }


    //1楼战站点


    public static final List<Integer> TRACK_POSITION_ONE = Arrays.asList(


            1004, 1007, 1010, 1014, 1018, 1021, 1024, 1028, 1031, 1035,1042,1105,1106,1041,


            1038,1036


    );


    //2楼战站点


    public static final List<Integer> TRACK_POSITION_TWO = Arrays.asList(


            2003,2006,2009,2012,2015,2018,2021,2024,2027,2030,2037,2031


    );




    // 轨道映射（把映射站点替换成主站点）


    public static final Map<Integer, Integer> SITE_MAPPING = new HashMap<>();


    static {


        SITE_MAPPING.put(1042, 1004);


        SITE_MAPPING.put(1105, 1007);


        SITE_MAPPING.put(1106, 1010);


        SITE_MAPPING.put(1041, 1024);


        SITE_MAPPING.put(1038, 1028);


        SITE_MAPPING.put(1036, 1035);


    }




    // 获取轨道列表中实际站点


    private static Integer mapSite(Integer site) {


        return SITE_MAPPING.getOrDefault(site, site);


    }






    public static String zerofill(String msg, Integer count){


        if (msg.length() == count){


@@ -51,6 +87,7 @@


            return msgBuilder.toString();


        }


    }




    /*


     * 获取干涉最远站点


     * */


@@ -73,6 +110,30 @@


            indexNo=staFall.size()-1;


        }


        return staFall.get(indexNo);


    }




    // 获取当前小车未行走的路线集合


    public static List<Integer> getRouteDis(Integer groupStart, Integer groupEnd) {


        groupStart = mapSite(groupStart);


        groupEnd = mapSite(groupEnd);




        int startIdx = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart);


        int endIdx = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);




        if (startIdx == -1 || endIdx == -1) return null;




        boolean forward = startIdx < endIdx;


        List<Integer> route = forward ? TRACK_POSITION_POSITIVE_SEQUENCE : TRACK_POSITION_REVERSE_SEQUENCE;




        List<Integer> result = new ArrayList<>();


        boolean addFlag = false;


        for (Integer s : route) {


            s = mapSite(s);


            if (s.equals(groupStart)) addFlag = true;


            if (addFlag) result.add(s);


            if (s.equals(groupEnd)) break;


        }


        return result;


    }






@@ -104,6 +165,20 @@


            return null;


        }


        return result;


    }


    public static List<Integer> getRouteOne(){




        List<Integer> groupRoute = new ArrayList<>();


        groupRoute = TRACK_POSITION_ONE;




        return groupRoute;


    }


    public static List<Integer> getRouteTwo(){




        List<Integer> groupRoute = new ArrayList<>();


        groupRoute = TRACK_POSITION_TWO;




        return groupRoute;


    }




    /*


@@ -235,12 +310,11 @@


    public static Short CrnStaEnd(Integer endSta,Integer souSta) {


        switch (endSta) {


            case 100:


                if (souSta == 118){


                    return (short)119;


                }


                return (short)149;


            case 102:


            case 111:


                if (souSta == 118 || souSta == 127){


                    return (short)119;


                }


                return 149;


            default:


                return endSta.shortValue();


@@ -248,8 +322,11 @@


    }




    public static  Short SouStaEnd(Integer endSta,Integer souSta){


       if (souSta == 159) {


           return (short)161;


       if (souSta == 1103) {


           return (short)1105;


       }


       if(souSta == 1047){


           return (short)1042;


       }


       return souSta.shortValue();


    }


@@ -257,52 +334,59 @@






    public static void main(String[] arge){


        List<Integer> routeCurrent = getRoute(100, 124);  //获取当前小车路径


        List<Integer> routeOther = getRoute(149, 161);  //获取其它小车路径


        System.out.println("当前小车路径:\t"+routeCurrent);


        System.out.println("其它小车路径:\t"+routeOther);


        //{"endRoute":999,"lockEndRoute":124,"lockStartRoute":161,"nowRoute":161,"rgvNo":3,"rgvStatus":0,"startRoute":161}   3hao


        Integer i = RouteIndexFarMas(112, 161, 124, 161);


        System.out.println(i);


        //{"endRoute":119,"lockEndRoute":112,"lockStartRoute":100,"nowRoute":112,"rgvNo":2,"rgvStatus":0,"startRoute":100} 2


        Integer i1 = RouteIndexFarMas(112, 100, 112, 100);


        System.out.println(i1);




        boolean routeBoolean = getRouteBoolean(routeCurrent, routeOther);  //是否有交集


        System.out.println("是否有交集:\t"+routeBoolean);




        List<Integer> routeIntersection = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.INTERSECTION);//交集


        System.out.println("路径交集：\t"+routeIntersection);




        List<Integer> routeIntersection1 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DIFFERENCESET);//差集


        System.out.println("路径差集：\t"+routeIntersection1);




        List<Integer> routeIntersection2 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.UNION);//并集


        System.out.println("路径并集：\t"+routeIntersection2);




        List<Integer> routeIntersection3 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DEDUPLICATIONUNION);//去重并集


        System.out.println("路径去重并集：\t"+routeIntersection3);




        /*


         * a  小车当前位置


         * b  小车任务开始位置


         * c  小车任务结束位置


         * sign  另一个小车空闲标记


         * */


        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




        /*


         * a  小车当前位置


         * b  小车任务开始位置


         * c  小车任务结束位置


         * d  小车初始位置


         * 获取最大路径差值


         * */


        List<Integer> routeDIFF = RouteMapCurrentFar(100,101,124,149);


        System.out.println("当前路径最大集合：\t"+ routeDIFF);




        Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,124);


        System.out.println("另一台小车最远站点：\t"+routeFarOther);






        Integer[] integers = RouteIndexFarArr(100,101,124,149);


        for (Integer integer:integers){


            System.out.println(integer);


        }


//        List<Integer> routeCurrent = getRoute(100, 124);  //获取当前小车路径


//        List<Integer> routeOther = getRoute(149, 161);  //获取其它小车路径


//        System.out.println("当前小车路径:\t"+routeCurrent);


//        System.out.println("其它小车路径:\t"+routeOther);


//


//        boolean routeBoolean = getRouteBoolean(routeCurrent, routeOther);  //是否有交集


//        System.out.println("是否有交集:\t"+routeBoolean);


//


//        List<Integer> routeIntersection = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.INTERSECTION);//交集


//        System.out.println("路径交集：\t"+routeIntersection);


//


//        List<Integer> routeIntersection1 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DIFFERENCESET);//差集


//        System.out.println("路径差集：\t"+routeIntersection1);


//


//        List<Integer> routeIntersection2 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.UNION);//并集


//        System.out.println("路径并集：\t"+routeIntersection2);


//


//        List<Integer> routeIntersection3 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DEDUPLICATIONUNION);//去重并集


//        System.out.println("路径去重并集：\t"+routeIntersection3);


//


//        /*


//         * a  小车当前位置


//         * b  小车任务开始位置


//         * c  小车任务结束位置


//         * sign  另一个小车空闲标记


//         * */


//        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


//


//        /*


//         * a  小车当前位置


//         * b  小车任务开始位置


//         * c  小车任务结束位置


//         * d  小车初始位置


//         * 获取最大路径差值


//         * */


//        List<Integer> routeDIFF = RouteMapCurrentFar(100,101,124,149);


//        System.out.println("当前路径最大集合：\t"+ routeDIFF);


//


//        Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,124);


//        System.out.println("另一台小车最远站点：\t"+routeFarOther);


//


//


//        Integer[] integers = RouteIndexFarArr(100,101,124,149);


//        for (Integer integer:integers){


//            System.out.println(integer);


//        }


    }




}