#

lsh

2024-07-18 c7feb49880a74b18149efec5fb515fdab3b8ccd5

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

@@ -1,27 +1,43 @@
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.Arrays;
import java.util.Collections;
import java.util.List;
import static java.util.stream.Collectors.toList;
import com.zy.core.enums.RouteCollectCountType;
import springfox.documentation.spring.web.json.Json;

/**
 * Created by vincent on 2020/8/27
 * Created by Monkey D. Luffy on 2023/7/18
 */
public class RouteUtils {

    public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{
        add(116);add(117);
    }};

    public static final List<Integer> MERGE_STA_NO_TWO = new ArrayList<Integer>() {{
        add(113);add(123);add(114);add(1142);
    }};

    public static final List<Integer> MERGE_STA_NO_THREE = new ArrayList<Integer>() {{
        add(107);add(118);add(108);add(119);
    }};

    public static final List<Integer> MERGE_STA_NO_FOUR = new ArrayList<Integer>() {{
        add(110);add(120);add(111);add(121);
    }};

    public static final List<Integer> MERGE_STA_NO_FIVE = new ArrayList<Integer>() {{
        add(113);add(123);add(114);add(1142);
    }};

//    正序
    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{
        add(1);add(2);add(3);add(4);add(5);add(6);add(7);add(8);add(9);add(10);add(11);add(12);
        add(101);add(102);add(104);add(122);add(105);add(107);add(118);add(108);add(119);add(110);add(120);add(111);add(121);add(113);add(123);add(114);add(1142);add(116);add(117);
    }};
//    反序
    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{
        add(12);add(11);add(10);add(9);add(8);add(7);add(6);add(5);add(4);add(3);add(2);add(1);
        add(117);add(116);add(1142);add(114);add(123);add(113);add(121);add(111);add(120);add(110);add(119);add(108);add(118);add(107);add(105);add(122);add(104);add(102);add(101);
    }};

    public static String zerofill(String msg, Integer count){
@@ -37,9 +53,34 @@
            return msgBuilder.toString();
        }
    }
    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
        List<Integer> staFall = new ArrayList<>();
        if (MERGE_STA_NO_One.contains(staNo)){
            staFall = MERGE_STA_NO_One;
        }else if (MERGE_STA_NO_TWO.contains(staNo)){
            staFall = MERGE_STA_NO_TWO;
        }else if (MERGE_STA_NO_THREE.contains(staNo)){
            staFall = MERGE_STA_NO_THREE;
        }else if (MERGE_STA_NO_FOUR.contains(staNo)){
            staFall = MERGE_STA_NO_FOUR;
        }else {
            return staNo;
        }

    // 获取当前小车未行走的路线
    public static List<Integer> getRoute(boolean sign,Integer drop){
        int indexNo = 0;
        if (rgvNo==1){
            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> getRoute(Integer groupStart,Integer groupEnd){
        boolean sign = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart) < TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);
        List<Integer> result = new ArrayList<>();
        List<Integer> groupRoute = new ArrayList<>();
        if (sign){
@@ -47,11 +88,15 @@
        }else {
            groupRoute = TRACK_POSITION_REVERSE_SEQUENCE;
        }
        if (groupRoute.contains(drop)) {
        if (groupRoute.contains(groupStart) && groupRoute.contains(groupEnd)) {
            sign = false;
            for (Integer route : groupRoute) {
                if (route == drop){
                if (route.equals(groupStart)){
                    sign=true;
                }
                if (route.equals(groupEnd)){
                    result.add(route);
                    break;
                }
                if (sign){
                    result.add(route);
@@ -60,20 +105,336 @@
        }else {
            return null;
        }



        return result;
    }
    // 外侧方向的货位  优先入库方向/优先出库方向 ===>> 反之
    public static List<String> getGroupOutsideLoc(String locNo,Integer crnNo){

        List<String> result = new ArrayList<>();
    /*
    * 获取最远站点
    * */
    public static Integer RouteIndexFarMas(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            if (ia>ib){
                if (ia>ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib>ic){
                    return b;
                }else {
                    return c;
                }
            }
        }else {
            if (ia<ib){
                if (ia<ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib<ic){
                    return b;
                }else {
                    return c;
                }
            }
        }
    }

        return result;
    /*
     * 获取最远站点
     * a:当前位置
     * b:开始位置
     * c:结束位置
     * d:锁开始位置
     * */
    public static Integer RouteIndexFarMasNew(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            if (ia>ib){
                if (ia>ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib>ic){
                    return b;
                }else {
                    return c;
                }
            }
        }else {
            if (ia<ib){
                if (ia<ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib<ic){
                    return b;
                }else {
                    return c;
                }
            }
        }
    }

    public static Integer[] RouteIndexFarArr(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        return new Integer[]{ia,ib,ic,id};
    }

    /*
     * 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
     * */
    public static List<Integer>  RouteMapCurrentFar(Integer a,Integer b,Integer c,Integer d){
        Integer farStn = RouteIndexFarMas(a, b, c, d);
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    public static List<Integer>  RouteMapCurrentFar(Integer farStn,Integer d){
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    /*
    * 另一台小车最远位置
    * */
    public static Integer RouteMapOtherFarStnNo(List<Integer> routeDIFF,Integer d){
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            return routeDIFF.get(0);
        }else {
            int size = routeDIFF.size();
            return routeDIFF.get(size-1);
        }
    }

    //是否有交集
    public static boolean getRouteBoolean(List<Integer> groupCurrent,List<Integer> groupOther){
        for (Integer positionCurrent : groupCurrent){
            for (Integer positionOther : groupOther){
                if (positionCurrent.equals(positionOther)){
                    return true;
                }
            }
        }
        return false;
    }

    //集合运算
    public static List<Integer> getRouteIntersection(List<Integer> groupCurrent, List<Integer> groupOther, RouteCollectCountType routeCollectCountType){
        switch (routeCollectCountType){
            case INTERSECTION:
                //交集
                return groupCurrent.stream().filter(item -> groupOther.contains(item)).collect(toList());
            case DIFFERENCESET:
                //差集
                return groupCurrent.stream().filter(item -> !groupOther.contains(item)).collect(toList());
            case UNION:
                //并集
                groupCurrent.addAll(groupOther);
                return groupCurrent;
            case DEDUPLICATIONUNION:
                //去重并集
                groupCurrent.addAll(groupOther);
                return groupCurrent.stream().distinct().collect(toList());
            default:
                return null;
        }
    }

    /*
    * 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
    * */
    public static boolean RouteAutoBoolean(Integer a,Integer b,Integer c,Integer aa,Integer bb,Integer cc,boolean idleOther){
        List<Integer> routeCurrent = getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);//并集
        List<Integer> routeOther = getRouteIntersection(getRoute(aa, cc), getRoute(bb, cc), RouteCollectCountType.DEDUPLICATIONUNION);//
        return !getRouteBoolean(routeCurrent, routeOther);  //是否有交集
    }

    public static List<Integer> RouteAutoBoolean(Integer a,Integer b,Integer c){
        return getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);
    }



    public static void main(String[] arge){
        List<Integer> routeCurrent = getRoute(104, 119);  //获取当前小车路径
        List<Integer> routeOther = getRoute(117, 118);  //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);

        System.out.println(RouteAutoBoolean(101,104,119,114,116,120,true));

        List<Integer> routeDIFF = RouteMapCurrentFar(114, 104, 119, 117);
        System.out.println("当前路径最大集合：\t"+ routeDIFF);

        Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,117);
        System.out.println("另一台小车最远站点：\t"+routeFarOther);


        Integer[] integers = RouteIndexFarArr(114, 104, 119, 101);
        for (Integer integer:integers){
            System.out.println(integer);
        }
    }

    public static short RgvPosSta(Integer rgvId,Short posId){
        switch (rgvId){
            case 1:
                return RgvPosStaOne(posId);
            case 2:
                return RgvPosStaTwo(posId);
            default:
                return 1;
        }
    }

    public static short RgvPosStaOne(Short posId){
        switch (posId.intValue()){
            case 1:
            case 2:
                return 102;
            case 3:
            case 4:
                return 122;
            case 5:
            case 6:
                return 105;
            case 7:
            case 8:
                return 118;
            case 9:
            case 10:
            case 11:
                return 119;
            case 12:
            case 13:
            case 14:
                return 110;
            case 15:
                return 120;
            case 16:
            case 17:
            case 18:
                return 111;
            case 19:
                return 121;
            case 20:
            case 21:
            case 22:
                return 113;
            case 23:
            case 24:
                return 123;
            case 25:
                return 114;
            case 26:
            case 27:
                return 1142;
            case 28:
                return 116;
            default:
                return 1142;
        }
    }

    public static short RgvPosStaTwo(Short posId){
        switch (posId.intValue()){
            case 1:
                return 116;
            case 2:
                return 1142;
            case 3:
            case 4:
                return 114;
            case 5:
                return 123;
            case 6:
            case 7:
            case 8:
                return 113;
            case 9:
            case 10:
                return 121;
            case 11:
            case 12:
            case 13:
            case 14:
                return 120;
            case 15:
                return 110;
            case 16:
            case 17:
            case 18:
                return 119;
            case 19:
                return 108;
            case 20:
            case 21:
            case 22:
                return 107;
            case 23:
            case 24:
                return 105;
            case 25:
            case 26:
            case 27:
            case 28:
                return 104;
            default:
                return 104;
        }
    }

    public static Integer CrnStaEnd(Integer endSta,Integer souSta) {
        switch (souSta) {
            case 100:
            case 103:
            case 106:
            case 109:
            case 112:
            case 115:
                return souSta + 1;
            default:
                return endSta;
        }
    }

}