From aede5c5c19740a9903dfe2873caaacc10eebda66 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 28 四月 2025 12:37:07 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/utils/RouteUtils.java | 642 ++++++++++-----------------------------------------------
1 files changed, 119 insertions(+), 523 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/RouteUtils.java b/src/main/java/com/zy/asrs/utils/RouteUtils.java
index bb88fa2..905be8d 100644
--- a/src/main/java/com/zy/asrs/utils/RouteUtils.java
+++ b/src/main/java/com/zy/asrs/utils/RouteUtils.java
@@ -1,8 +1,13 @@
package com.zy.asrs.utils;
+import com.zy.asrs.entity.BasDevpPosition;
+import com.zy.asrs.entity.TaskWrk;
+import com.zy.asrs.entity.WrkMast;
import com.zy.core.enums.RouteCollectCountType;
+import com.zy.core.model.RgvSlave;
import java.util.ArrayList;
+import java.util.Collections;
import java.util.List;
import static java.util.stream.Collectors.toList;
@@ -11,564 +16,155 @@
* Created by Monkey D. Luffy on 2023/7/18
*/
public class RouteUtils {
+ //鎺掑簭 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 0:宸� 灏� 1:鍙� 澶�
+ public static List<Integer>[] gradeRange(List<Integer> staNoList, List<BasDevpPosition> basDevpPositionList, boolean itSmall) {
+ List<Integer>[] avoidRangeArray = new ArrayList[2];
- public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{
- add(171);add(116);add(117);
- }};
+ Integer[] rangeList = new Integer[staNoList.size()];
+ List<Integer> rangeList1 = new ArrayList<>();
+ List<Integer> rangeList2 = new ArrayList<>();
- 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(104);add(122);add(105);
- }};
-
- public static final List<Integer> MERGE_STA_NO_SIX = new ArrayList<Integer>() {{
- add(108);add(119);add(110);add(120);
- }};
-
- public static final List<Integer> MERGE_STA_NO_SEVEN = new ArrayList<Integer>() {{
-
- }};
-
- public static final List<Integer> MERGE_STA_NO_EIGHT = new ArrayList<Integer>() {{
-
- }};
-
- public static final List<Integer> MERGE_STA_NO_NINE = new ArrayList<Integer>() {{
-
- }};
-
- // 姝ｅ簭
- public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE1 = new ArrayList<Integer>() {{
- add(101);add(102);add(104);add(122);add(105);add(107);add(118);add(108);
- }};
- // 鍙嶅簭
- public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE2 = new ArrayList<Integer>() {{
- add(117);add(116);add(171);add(1142);add(114);add(123);add(113);add(121);add(111);add(120);add(110);
- }};
-
- public static Integer getEndRoute(Integer endRoute,Integer rgvNo){
- if (rgvNo == 1){
- if (TRACK_POSITION_POSITIVE_SEQUENCE1.contains(endRoute)){
- return endRoute;
- } else {
- return 108;
- }
- } else if (rgvNo == 2){
- if (TRACK_POSITION_REVERSE_SEQUENCE2.contains(endRoute)){
- return endRoute;
- } else {
- return 110;
- }
- }
- return endRoute;
- }
-
-// 姝ｅ簭
- public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{
- 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(171);add(116);add(117);
- }};
-// 鍙嶅簭
- public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{
- add(117);add(116);add(171);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){
- 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();
- }
- }
-// /*
-// * 鑾峰彇骞叉秹鏈�杩滅珯鐐�
-// * */
-// public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
-// List<Integer> staFall = new ArrayList<>();
-// if (MERGE_STA_NO_SIX.contains(staNo)){
-// staFall = MERGE_STA_NO_SIX;
-// }else 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 if (MERGE_STA_NO_FIVE.contains(staNo)){
-// staFall = MERGE_STA_NO_FIVE;
-// }else {
-// return staNo;
-// }
-//
-// int indexNo = 0;
-// if (rgvNo==1){
-// indexNo=staFall.size()-1;
-// }
-// return staFall.get(indexNo);
-// }
-
- /*
- * 鑾峰彇骞叉秹鏈�杩滅珯鐐�
- * */
- public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
- if (rgvNo==1){
- switch (staNo){
- case 101:
- case 102: return 102;
- case 104:
- case 122: return 118;
- case 105: return 119;
- case 107:
- case 118: return 108;
- case 108:
- case 119: return 111;
- case 110:
- case 120: return 113;
- case 111:
- case 121: return 113;
- case 113: return 114;
- case 123:
- case 114: return 1142;
- default:
- return 116;
- }
- }else {
- switch (staNo){
- case 117:
- case 116:
- case 171:
- return 1142;
- case 1142:
- case 114: return 113;
- case 123:
- case 113: return 111;
- case 121: return 110;
- case 111: return 110;
- case 120:
- case 110: return 108;
- case 119:
- case 108: return 107;
- case 118:
- case 107: return 105;
- case 105:
- case 122:
- case 104: return 104;
- default:
- return 102;
- }
- }
- }
- /*
- * 鑾峰彇骞叉秹鏈�杩滅珯鐐�
- * */
- public static Integer RouteIndexFarMasL(int rgvNo,Integer staNo){
- if (rgvNo==1){
- switch (staNo){
- case 101:
- case 102:
- case 104:
- case 122:
- case 105:
- case 107:
- return 118;
- case 118:
- return staNo;
- default:
- return 108;
- }
- }else {
- switch (staNo){
- case 117:
- case 116:
- case 171:
- case 1142:
- case 114:
- case 123:
- case 113:
- case 121:
- return 121;
- case 111:
- return staNo;
- default:
- return 110;
- }
- }
- }
-
- // 鑾峰彇褰撳墠灏忚溅鏈璧扮殑璺嚎闆嗗悎
- 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){
- groupRoute = TRACK_POSITION_POSITIVE_SEQUENCE;
- }else {
- groupRoute = TRACK_POSITION_REVERSE_SEQUENCE;
- }
- if (groupRoute.contains(groupStart) && groupRoute.contains(groupEnd)) {
- sign = false;
- for (Integer route : groupRoute) {
- if (route.equals(groupStart)){
- sign=true;
- }
- if (route.equals(groupEnd)){
- result.add(route);
+ int i = 0;
+ for (BasDevpPosition basDevpPosition : basDevpPositionList) {
+ for (Integer staNo : staNoList) {
+ if (basDevpPosition.getDevNo().equals(staNo)) {
+ rangeList[i] = staNo;
+ i = i + 1;
break;
}
- if (sign){
- result.add(route);
- }
}
- }else {
- return null;
}
- return result;
- }
-
- /*
- * 鑾峰彇鏈�杩滅珯鐐�
- * */
- 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;
+ boolean sign = true;
+ for (int j = 0; j < rangeList.length; j++) {
+ if (itSmall) {
+ if (sign) {
+ rangeList1.add(rangeList[j]);
+ } else {
+ rangeList2.add(rangeList[j]);
}
- }else {
- if (ib>ic){
- return b;
- }else {
- return c;
+ if (sign && j >= rangeList.length / 2) {
+ sign = false;
}
- }
- }else {
- if (ia<ib){
- if (ia<ic){
- return a;
- }else {
- return c;
+ } else {
+ if (sign && j >= rangeList.length / 2) {
+ sign = false;
}
- }else {
- if (ib<ic){
- return b;
- }else {
- return c;
+ if (sign) {
+ rangeList1.add(rangeList[j]);
+ } else {
+ rangeList2.add(rangeList[j]);
}
}
}
+
+ avoidRangeArray[0] = rangeList1;
+ avoidRangeArray[1] = rangeList2;
+ return avoidRangeArray;
}
- /*
- * 鑾峰彇鏈�杩滅珯鐐�
- * a:褰撳墠浣嶇疆
- * b:寮�濮嬩綅缃�
- * c:缁撴潫浣嶇疆
- * d:閿佸紑濮嬩綅缃�
- * */
- 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;
+
+ //鑾峰彇鍦ㄨ寖鍥寸殑绔欑偣
+ public static List<Integer> belongToRange(List<Integer> staNoList, Long[] avoid, List<BasDevpPosition> basDevpPositions) {
+ List<Integer> siteList = new ArrayList<>();
+
+ for (BasDevpPosition basDevpPosition : basDevpPositions) {
+ if (new TrackRangeUtils().avoidRange(basDevpPosition.getPlcPosition(), avoid)) {
+ for (Integer staNo : staNoList) {
+ if (basDevpPosition.getDevNo().equals(staNo)) {
+ siteList.add(staNo);
+ break;
+ }
}
}
}
+
+ return siteList;
}
- 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 灏忚溅褰撳墠浣嶇疆
- * b 灏忚溅浠诲姟寮�濮嬩綅缃�
- * c 灏忚溅浠诲姟缁撴潫浣嶇疆
- * d 灏忚溅鍒濆浣嶇疆
- * 鑾峰彇鏈�澶ц矾寰勫樊鍊�
- * */
- 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);
- }
-
- /*
- * 鍙︿竴鍙板皬杞︽渶杩滀綅缃�
- * */
- 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);
+ //鎻愬彇绔欑偣闆嗗悎
+ public static List<Integer> BasDevpPositionExtractSites(List<BasDevpPosition> basDevpPositions) {
+ List<Integer> siteList = new ArrayList<>();
+ for (BasDevpPosition basDevpPosition : basDevpPositions) {
+ if (!siteList.contains(basDevpPosition.getDevNo())) {
+ siteList.add(basDevpPosition.getDevNo());
+ }
}
+ return siteList;
}
- //鏄惁鏈変氦闆�
- public static boolean getRouteBoolean(List<Integer> groupCurrent,List<Integer> groupOther){
- for (Integer positionCurrent : groupCurrent){
- for (Integer positionOther : groupOther){
- if (positionCurrent.equals(positionOther)){
- return true;
+ //鎻愬彇绔欑偣闆嗗悎//灏辫繎鎺掑簭
+ public static List<Integer> SortNearby(List<Integer> staNoList, Long rgvNowPos, List<BasDevpPosition> basDevpPositionList) {
+ List<Integer> siteList = new ArrayList<>();
+
+ List<BasDevpPosition> basDevpPositions = devpNoSort(basDevpPositionList, rgvNowPos);
+ for (BasDevpPosition basDevpPosition : basDevpPositions) {
+ for (Integer staNo : staNoList) {
+ if (basDevpPosition.getDevNo().equals(staNo)) {
+ siteList.add(staNo);
+ break;
}
}
}
- return false;
+
+
+ return siteList;
}
- //闆嗗悎杩愮畻
- public static List<Integer> getRouteIntersection(List<Integer> groupCurrent, List<Integer> groupOther, RouteCollectCountType routeCollectCountType){
- switch (routeCollectCountType){
- case INTERSECTION:
- //浜ら泦
- return groupCurrent.stream().filter(item -> groupOther.contains(item)).collect(toList());
- case DIFFERENCESET:
- //宸泦
- return groupCurrent.stream().filter(item -> !groupOther.contains(item)).collect(toList());
- case UNION:
- //骞堕泦
- groupCurrent.addAll(groupOther);
- return groupCurrent;
- case DEDUPLICATIONUNION:
- //鍘婚噸骞堕泦
- groupCurrent.addAll(groupOther);
- return groupCurrent.stream().distinct().collect(toList());
- default:
- return null;
+ //绔欑偣杩囨护
+ public static List<BasDevpPosition> devpNoSort(List<BasDevpPosition> devpPositionList, Long rgvNowPos) {
+
+ List<BasDevpPosition> basDevpPositions = new ArrayList<>();
+ List<BasDevpPosition> basDevpPositionSort = new ArrayList<>();
+ ArrayList<Long> arrayList = new ArrayList<>();
+ for (BasDevpPosition basDevpPosition : devpPositionList) {
+ long position = Math.abs(basDevpPosition.getPlcPosition() - rgvNowPos);
+ BasDevpPosition devpPosition = new BasDevpPosition(basDevpPosition, position);
+ basDevpPositions.add(devpPosition);
+ arrayList.add(position);
}
- }
-
- /*
- * a 灏忚溅褰撳墠浣嶇疆
- * b 灏忚溅浠诲姟寮�濮嬩綅缃�
- * c 灏忚溅浠诲姟缁撴潫浣嶇疆
- * sign 鍙︿竴涓皬杞︾┖闂叉爣璁�
- * */
- 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);//骞堕泦
- List<Integer> routeOther = getRouteIntersection(getRoute(aa, cc), getRoute(bb, cc), RouteCollectCountType.DEDUPLICATIONUNION);//
- return !getRouteBoolean(routeCurrent, routeOther); //鏄惁鏈変氦闆�
- }
-
- 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); //鑾峰彇褰撳墠灏忚溅璺緞
- List<Integer> routeOther = getRoute(117, 118); //鑾峰彇鍏跺畠灏忚溅璺緞
- System.out.println("褰撳墠灏忚溅璺緞:\t"+routeCurrent);
- System.out.println("鍏跺畠灏忚溅璺緞:\t"+routeOther);
-
- boolean routeBoolean = getRouteBoolean(routeCurrent, routeOther); //鏄惁鏈変氦闆�
- System.out.println("鏄惁鏈変氦闆�:\t"+routeBoolean);
-
- List<Integer> routeIntersection = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.INTERSECTION);//浜ら泦
- System.out.println("璺緞浜ら泦锛歕t"+routeIntersection);
-
- List<Integer> routeIntersection1 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DIFFERENCESET);//宸泦
- System.out.println("璺緞宸泦锛歕t"+routeIntersection1);
-
- List<Integer> routeIntersection2 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.UNION);//骞堕泦
- System.out.println("璺緞骞堕泦锛歕t"+routeIntersection2);
-
- List<Integer> routeIntersection3 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DEDUPLICATIONUNION);//鍘婚噸骞堕泦
- System.out.println("璺緞鍘婚噸骞堕泦锛歕t"+routeIntersection3);
-
- System.out.println(RouteAutoBoolean(101,104,119,114,116,120,true));
-
- List<Integer> routeDIFF = RouteMapCurrentFar(114, 104, 119, 117);
- System.out.println("褰撳墠璺緞鏈�澶ч泦鍚堬細\t"+ routeDIFF);
-
- Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,117);
- System.out.println("鍙︿竴鍙板皬杞︽渶杩滅珯鐐癸細\t"+routeFarOther);
-
-
- Integer[] integers = RouteIndexFarArr(114, 104, 119, 101);
- for (Integer integer:integers){
- System.out.println(integer);
+ Collections.sort(arrayList); // 鍗囧簭鎺掑簭
+ for (Long position : arrayList) {
+ for (BasDevpPosition basDevpPosition : basDevpPositions) {
+ if (basDevpPosition.getPlcPosition().equals(position)) {
+ basDevpPositionSort.add(basDevpPosition);
+ break;
+ }
+ }
}
+ return basDevpPositionSort;
}
- public static short RgvPosSta(Integer rgvId,Short posId){
- switch (rgvId){
- case 1:
- return RgvPosStaOne(posId);
- case 2:
- return RgvPosStaTwo(posId);
- default:
- return 1;
+ //妫�娴嬫槸鍚﹀湪鑼冨洿
+ public static boolean CheckIfItIsWithinTheRange(List<Integer> staNoList, Long staNoNowPos, List<BasDevpPosition> basDevpPositionList, boolean itSmall) {
+ List<Integer> siteList = new ArrayList<>();
+
+
+ Integer[] rangeList = new Integer[staNoList.size()];
+ int i = 0;
+ for (BasDevpPosition basDevpPosition : basDevpPositionList) {
+ for (Integer staNo : staNoList) {
+ if (basDevpPosition.getDevNo().equals(staNo)) {
+ rangeList[i] = staNo;
+ i = i + 1;
+ break;
+ }
+ }
}
+
+ if (itSmall) {
+ return staNoNowPos <= rangeList[rangeList.length - 1];
+ }
+ return staNoNowPos >= rangeList[0];
}
- 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:
- case 9:
- return 118;
- 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 long absoluteDifference(Long a, Long b) {
+ if (a == null || b == null) {
+ a = 0L;
+ b = 0L;
+// throw new IllegalArgumentException("");
+ System.out.println("a or b is null");
}
- }
-
- public static short RgvPosStaTwo(Short posId){
- switch (posId.intValue()){
- case 1:
- return 116;
- case 28:
- 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:
- case 16:
- return 110;
- 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:
- 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;
- }
+ return Math.abs(a - b);
}
}
--
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