From de480b42a379d1cf23e1703977c0169e837fa786 Mon Sep 17 00:00:00 2001
From: zzgtfwq <zzgtfwq>
Date: 星期三, 10 十二月 2025 13:17:50 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/utils/Utils.java | 198 +++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 183 insertions(+), 15 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 36a0324..c14a658 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -87,8 +87,14 @@
*/
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);
+ int shallowRow = row;
+ if (row==1 || row == 5 || row==11){
+ shallowRow = row+1;
+ } else if (row==4 || row==8 || row == 14){
+ shallowRow = row-1;
+ }
+// 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);
}
@@ -105,15 +111,23 @@
*/
public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
+// int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
int targetRow;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 3) {
- targetRow = row + 1;
- } else {
+// int targetRow = row;
+ if (row==2 || row == 6 || row==12){
+ targetRow = row-1;
+ } else if (row==3 || row==7 || row == 13){
+ targetRow = row+1;
+ }else {
throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
}
+// if (remainder == 2) {
+// targetRow = row - 1;
+// } else if (remainder == 3) {
+// targetRow = row + 1;
+// } else {
+// throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
+// }
return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
}
@@ -121,14 +135,23 @@
* 鑾峰彇 娴呭簱浣嶆帓瀵瑰簲鐨勬繁搴撲綅鎺�
*/
public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
- int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
+// int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
int targetRow;
- if (remainder == 2) {
- targetRow = shallowRow - 1;
- } else if (remainder == 3) {
- targetRow = shallowRow + 1;
- } else {
- throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶆帓锛岀郴缁熺箒蹇�");
+// if (remainder == 2) {
+// targetRow = shallowRow - 1;
+// } else if (remainder == 3) {
+// targetRow = shallowRow + 1;
+// } else {
+// throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶆帓锛岀郴缁熺箒蹇�");
+// }
+
+// int targetRow = row;
+ if (shallowRow==2 || shallowRow == 6 || shallowRow==12){
+ targetRow = shallowRow-1;
+ } else if (shallowRow==3 || shallowRow==7 || shallowRow == 13){
+ targetRow = shallowRow+1;
+ }else {
+ throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
}
return targetRow;
}
@@ -161,6 +184,151 @@
}
+
+ public static double[] getRgvPosNew(Integer devNo,double a, double b) {
+ double[] rgvPosNew = getRgvPosNew(a, b);
+ switch (devNo){
+ case 101:
+ case 102:
+ case 103:
+ case 104:
+ case 105:
+ case 106:
+ case 107:
+ case 108:
+ case 109:
+ case 110:
+ case 111:
+ rgvPosNew[0] = rgvPosNew[0] - 70;
+ break;
+ case 112:
+ case 113:
+ case 114:
+ case 115:
+ rgvPosNew[0] = rgvPosNew[0] + 50;
+ break;
+ case 116:
+ case 117:
+ case 118:
+ case 119:
+ case 120:
+ case 121:
+ case 122:
+ case 123:
+ case 124:
+ case 125:
+ case 126:
+ case 127:
+ case 128:
+ case 129:
+ case 130:
+ case 131:
+ case 132:
+ case 133:
+ rgvPosNew[1] = rgvPosNew[1] + 50;
+ break;
+ case 134:
+ rgvPosNew[1] = rgvPosNew[1] - 70;
+ break;
+ }
+ return rgvPosNew;
+
+ }
+ public static double[] getRgvPosNew(double a, double b) {
+ Object[][] intervals = {
+// // 寮х嚎鍖洪棿锛堟嫄鐐�116-115锛夛紝鎺у埗鐐瑰亣璁句负(1125, 882)
+// {680103, 731550, 1115, 882, 1215, 775, 1125, 882},
+ // 鐩寸嚎鍖洪棿锛�0-134400锛�
+// {璧风偣, 缁堢偣, 绫诲瀷, x1, y1, x2, y2,
+ {0.0, 240000.0, 0, 100.0, 225.0, 1100.0, 225.0},
+ {1000000.0, 1240000.0, 0, 100.0, 625.0, 1100.0, 625.0},
+// // 鍦嗗姬鍖洪棿锛堟嫄鐐�116-115锛夋柊鍙傛暟锛氬渾蹇�(1115,775)
+// {120000.0, 127500.0, 2, 60.0, 750.0, 10.0, 800.0, 60.0, 800.0}, // 淇缁堢偣鍧愭爣
+// {127500.0, 134900.0, 2, 10.0, 800.0, 60.0, 850.0, 60.0, 800.0},
+// {134900.0, 680103.0,0, 60.0, 850.0, 1100.0, 850.0},
+// {680103.0, 731550.0, 2, 1100.0, 850.0, 1200.0, 750.0, 1100.0, 750.0},
+// {731550.0, 972950.0,0, 1200.0, 750.0, 1200.0, 100.0},
+// {972950.0, 1016193.0, 2, 1200.0, 100.0, 1150.0, 50.0, 1150.0, 100.0},
+// {1016193.0, 1063563.0, 2, 1150.0, 50.0, 1100.0, 100.0, 1150.0, 100.0},
+// {1063563.0, 1315250.0,0, 1100.0, 100.0, 1100.0, 700.0},
+// {1315250.0, 1322829.0, 2, 1100.0, 700.0, 1050.0, 750.0, 1050.0, 700.0},
+// {1322829.0, 1737000.0,0, 1050.0, 750.0, 390.0, 750.0},
+ };
+
+ for (Object[] interval : intervals) {
+ double start = (Double) interval[0];
+ double end = (Double) interval[1];
+ int type = (Integer) interval[2];
+
+ if (b >= start && b <= end) {
+ double t = (b - start) / (end - start);
+
+ // 鏍规嵁涓嶅悓绫诲瀷璁＄畻鍧愭爣
+ switch (type) {
+ case 0: // 鐩寸嚎
+ return linearInterpolation(interval, t);
+ case 1: // 璐濆灏旀洸绾�
+ return bezierInterpolation(interval, t);
+ case 2: // 鍦嗗姬
+ return circularInterpolation(interval, t);
+ }
+ }
+ }
+ return new double[]{0, 0};
+ }
+
+
+
+ // 鐩寸嚎鎻掑��
+ private static double[] linearInterpolation(Object[] interval, double t) {
+ double x1 = (Double) interval[3];
+ double y1 = (Double) interval[4];
+ double x2 = (Double) interval[5];
+ double y2 = (Double) interval[6];
+ return new double[]{
+ x1 + t * (x2 - x1),
+ y1 + t * (y2 - y1)
+ };
+ }
+
+ // 璐濆灏旀洸绾挎彃鍊�
+ private static double[] bezierInterpolation(Object[] interval, double t) {
+ double x0 = (Double) interval[3];
+ double y0 = (Double) interval[4];
+ double x2 = (Double) interval[5];
+ double y2 = (Double) interval[6];
+ double cx = (Double) interval[7];
+ double cy = (Double) interval[8];
+ return new double[]{
+ Math.pow(1-t, 2)*x0 + 2*(1-t)*t*cx + t*t*x2,
+ Math.pow(1-t, 2)*y0 + 2*(1-t)*t*cy + t*t*y2
+ };
+ }
+
+ // 鍦嗗姬鎻掑�硷紙鏂板锛�
+ private static double[] circularInterpolation(Object[] interval, double t) {
+ // 鍙傛暟瑙ｆ瀽
+ double startX = (Double) interval[3];
+ double startY = (Double) interval[4];
+ double endX = (Double) interval[5];
+ double endY = (Double) interval[6];
+ double centerX = (Double) interval[7];
+ double centerY = (Double) interval[8];
+
+ // 璁＄畻璧峰瑙掑害鍜岀粓姝㈣搴�
+ double startAngle = Math.atan2(startY - centerY, startX - centerX);
+ double endAngle = Math.atan2(endY - centerY, endX - centerX);
+
+ // 瑙掑害鎻掑��
+ double currentAngle = startAngle + t * (endAngle - startAngle);
+ double radius = Math.hypot(startX - centerX, startY - centerY);
+
+ return new double[]{
+ centerX + radius * Math.cos(currentAngle),
+ centerY + radius * Math.sin(currentAngle)
+ };
+ }
+
public static void main(String[] args) {
SlaveProperties slaveProperties = new SlaveProperties();
slaveProperties.setDoubleDeep(true);
--
Gitblit v1.9.1