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.List; /** * Created by vincent on 2020/8/27 */ public class Utils { private static final DecimalFormat fmt = new DecimalFormat("##0.00"); public static float scale(Float f){ if (f == null || f == 0f || Float.isNaN(f)) { return 0f; } return (float) Arith.multiplys(2, f, 1); } /** * 通过库位号获取 排 */ public static int getRow(String locNo) { if (!Cools.isEmpty(locNo)) { return Integer.parseInt(locNo.substring(0, 2)); } throw new RuntimeException("库位解析异常"); } /** * 通过库位号获取 排 */ public static int getBay(String locNo) { if (!Cools.isEmpty(locNo)) { return Integer.parseInt(locNo.substring(2, 5)); } throw new RuntimeException("库位解析异常"); } /** * 通过库位号获取 排 */ public static int getLev(String locNo) { if (!Cools.isEmpty(locNo)) { return Integer.parseInt(locNo.substring(5, 7)); } throw new RuntimeException("库位解析异常"); } public static void main(String[] args) { double[] lev = RingThroughXY(183.0, 1830.0); System.out.printf("点的坐标为: (%.2f, %.2f)%n", lev[0], lev[1]); } public static double[] RingThroughXY(double a,double b) { // while (true){ // if (b>=a){ // b=b-a; // }else { // break; // } // } double l = b/a; // 已知数据 double circumference = 314; // 圆周长 double arcLength = 314*l; // 给出的弧长 // 计算圆的半径 double radius = circumference / (2 * Math.PI); // 圆心坐标 double centerX = 50; double centerY = 50; // 求弧度 double theta = arcLength / radius; // 计算点的坐标 double x = 100-(centerX + radius * Math.cos(theta)); double y = centerY + radius * Math.sin(theta); return new double[]{x,y}; } public static double[] RingThroughXYRgv(double a,double b) { double l = b / a; // 圆的已知参数 double radius = 47.52; // 半径为48 // double circumference = ; // 计算圆周长 double arcLength = 2 * Math.PI * radius * l; // 给出的弧长 // 圆心坐标 double centerX = 50; double centerY = 50; // 求弧度 double theta = arcLength / radius; // 计算点的坐标 double x = 100-(centerX + radius * Math.cos(theta)); double y = centerY + radius * Math.sin(theta); return new double[]{x, y}; } public static double[] RingThroughXYSta(double a,double b) { double l = b / a; // 圆的已知参数 double radius = 50; // 半径为48 // double circumference = ; // 计算圆周长 double arcLength = 2 * Math.PI * radius * l; // 给出的弧长 // 圆心坐标 double centerX = 55; double centerY = 45; // 求弧度 double theta = arcLength / radius; // 计算点的坐标 double x = 100-(centerX + radius * Math.cos(theta)); double y = centerY + radius * Math.sin(theta); return new double[]{x, y}; } 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] - 30; rgvPosNew[1] = rgvPosNew[1]; break; case 112: case 113: case 114: case 115: rgvPosNew[0] = rgvPosNew[0] + 10; rgvPosNew[1] = rgvPosNew[1]; 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[0] = rgvPosNew[0]; rgvPosNew[1] = rgvPosNew[1] + 30; break; case 134: rgvPosNew[0] = rgvPosNew[0]; rgvPosNew[1] = rgvPosNew[1] - 10; break; } return rgvPosNew; } public static double[] getRgvPosNew(double a, double b) { // 定义区间及对应的几何参数（新增圆弧参数） // 结构：{start, end, 类型, 参数...} // 类型说明：0-直线，1-圆弧（需要圆心坐标） Object[][] intervals = { // 直线区间（0-134400） {0.0, 134400.0, 0, 390.0, 775.0, 25.0, 775.0}, // 弧线区间（拐点-转弯-133）保持贝塞尔曲线 {134400.0, 134900.0, 1, 25.0, 775.0, 65.0, 882.0, 25.0, 882.0}, // 直线区间 {134900.0, 680103.0,0, 65.0, 885.0, 1115.0, 882.0}, // // 弧线区间（拐点116-115），控制点假设为(1125, 882) // {680103, 731550, 1115, 882, 1215, 775, 1125, 882}, // 圆弧区间（拐点116-115）新参数：圆心(1115,775) {680103.0, 731550.0, 2, 1115.0, 882.0, 1215.0, 775.0, 1115.0, 775.0}, // 修正终点坐标 // 直线区间 {731550.0, 972950.0,0, 1215.0, 775.0, 1215.0, 125.0}, // 弧线区间（拐点112-顶点），控制点假设为(1215, 80) {972950.0, 1016193.0,0, 1215.0, 125.0, 1164.0, 80.0}, // 弧线区间（拐点-顶点-111），控制点假设为(1164, 125) {1016193.0, 1063563.0,0, 1164.0, 80.0, 1115.0, 125.0}, // 直线区间 {1063563.0, 1315250.0,0, 1115.0, 150.0, 1115.0, 720.0}, // 弧线区间（拐点101-转弯），控制点假设为(1115, 750) {1315250.0, 1322829.0,0, 1115.0, 720.0, 1100.0, 750.0}, // 直线区间 {1322829.0, 1737000.0,0, 1090.0, 775.0, 390.0, 775.0}, }; 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); // 根据不同类型计算坐标 switch (type) { case 0: // 直线 return linearInterpolation(interval, t); case 1: // 贝塞尔曲线 return bezierInterpolation(interval, t); case 2: // 圆弧 return circularInterpolation(interval, t); } } } return new double[]{0, 0}; } // 直线插值 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) }; } // 贝塞尔曲线插值 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 }; } // 圆弧插值（新增） private static double[] circularInterpolation(Object[] interval, double t) { // 参数解析 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]; // 计算起始角度和终止角度 double startAngle = Math.atan2(startY - centerY, startX - centerX); double endAngle = Math.atan2(endY - centerY, endX - centerX); // 角度插值 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) }; } }