package com.zy.acs.manager.manager.service.impl;
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import com.zy.acs.common.utils.GsonUtils;
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import com.zy.acs.manager.core.domain.BackpackDto;
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import com.zy.acs.manager.manager.controller.param.OpenAgvParam;
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import com.zy.acs.manager.manager.controller.result.BackpackVo;
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import com.zy.acs.manager.manager.controller.result.OpenAgvInfo;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.SegmentStateType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.service.ConfigService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.stream.Collectors;
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@Service("openAlgorithmService")
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public class OpenAlgorithmServiceImpl implements OpenAlgorithmService {
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private AgvService agvService;
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@Autowired
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private SegmentService segmentService;
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@Autowired
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private ConfigService configService;
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@Override
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public List<OpenAgvInfo> listAgv(OpenAgvParam param) {
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List<Agv> agvList = agvService.list();
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List<OpenAgvInfo> result = new ArrayList<>();
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AgvDetail agvDetail;
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AgvModel agvModel;
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for (Agv agv : agvList) {
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agvDetail = agvDetailService.getById(agv.getId());
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List<Task> taskList = taskService.findTransportTasksByAgv(agvDetail.getId());
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agvModel = agvModelService.getByAgvId(agv.getAgvModel());
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OpenAgvInfo info = new OpenAgvInfo();
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info.setAgvNo(agvDetail.getUuid());
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info.setStatus(agvDetail.getStatus());
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info.setPosition(agvDetail.getCode$());
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info.setDirection(agvDetail.getAgvAngle());
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info.setVol(agvDetail.getVol());
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info.setEmpty(agvModel.getBackpack() - (taskList == null ? 0 : taskList.size()));
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info.setError(agvDetail.getError());
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info.setLowVol(agvModel.getLowBattery());
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info.setAutoCharge(agvModel.getQuaBattery());
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List<BackpackVo> backpackVos = new ArrayList<>();
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BackpackVo backpackVo;
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List<Long> taskIds = taskList.stream().map(Task::getId).collect(Collectors.toList());
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List<BackpackDto> backpackDtos = GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class);
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for (int i = 0; i < agvModel.getBackpack(); i++) {
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BackpackDto backpackDto = backpackDtos.get(i);
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backpackVo = new BackpackVo();
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List<Segment> segments = segmentService.getByAgvAndTaskAndBackpack(agvDetail.getAgvId(), taskIds, backpackVo.getIndex());
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for (Segment segment : segments) {
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backpackVo.setTaskId(segment.getTaskId() + "");
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}
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backpackVo.setIndex(i);
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backpackVo.setLoaded(backpackDto.getLoaded());
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backpackVo.setExecute(segments.stream().anyMatch(segment -> segment.getState().equals(SegmentStateType.RUNNING.toString())));
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backpackVos.add(backpackVo);
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}
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info.setBackpack(backpackVos);
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result.add(info);
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}
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return result;
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}
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}
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