package com.zy.acs.manager.core.service.astart;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.constant.RedisConstant;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.exception.CoolException;
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import com.zy.acs.manager.common.utils.MapDataUtils;
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import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
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import com.zy.acs.manager.core.utils.RouteGenerator;
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import com.zy.acs.manager.manager.entity.Code;
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import com.zy.acs.manager.manager.entity.Route;
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import com.zy.acs.manager.manager.enums.StatusType;
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import com.zy.acs.manager.manager.service.CodeService;
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import com.zy.acs.manager.manager.service.RouteService;
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import lombok.extern.slf4j.Slf4j;
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import java.util.*;
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/**
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* Created by vincent on 6/6/2024
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*/
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@Slf4j
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public class MapDataDispatcher {
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public static final Integer MAP_DEFAULT_LEV = 1;
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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List<Double> xIdxList;
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List<Double> yIdxList;
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private String[][] codeMatrix;
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private int[][] mapMatrix;
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private int[][] turnMatrix;
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private Double[][][] cdaMatrix;
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public Map<String, Boolean> routeCdaMap = new HashMap<>();
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private final CodeService codeService;
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private final RouteService routeService;
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public MapDataDispatcher(CodeService codeService, RouteService routeService) {
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this.codeService = codeService;
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this.routeService = routeService;
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}
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public String[][] getWaveMatrix(Integer lev) {
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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String[][] waveMatrix;
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String waveMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_WAVE_FLAG, String.valueOf(lev));
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if (Cools.isEmpty(waveMatrixStr)) {
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waveMatrix = this.initWaveMatrix(lev);
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setWaveMatrix(lev, waveMatrix);
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} else {
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waveMatrix = JSON.parseObject(waveMatrixStr, String[][].class);
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}
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if (null == waveMatrix) {
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throw new CoolException("the floor " + lev + " cannot found wave matrix !!!");
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}
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return waveMatrix;
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}
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public void setWaveMatrix(Integer lev, String[][] waveMatrix) {
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redis.setValue(RedisConstant.AGV_MAP_ASTAR_WAVE_FLAG, String.valueOf(lev), JSON.toJSONString(waveMatrix));
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}
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public DynamicNode[][] getDynamicMatrix(Integer lev) {
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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DynamicNode[][] dynamicMatrix;
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String dynamicMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(lev));
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if (Cools.isEmpty(dynamicMatrixStr)) {
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dynamicMatrix = this.initDynamicMatrix(lev);
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setDynamicMatrix(lev, dynamicMatrix);
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} else {
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dynamicMatrix = JSON.parseObject(dynamicMatrixStr, DynamicNode[][].class);
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}
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if (null == dynamicMatrix) {
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throw new CoolException("the floor " + lev + " cannot found dynamic matrix !!!");
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}
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return dynamicMatrix;
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}
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public void setDynamicMatrix(Integer lev, DynamicNode[][] dynamicMatrix) {
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redis.setValue(RedisConstant.AGV_MAP_ASTAR_DYNAMIC_FLAG, String.valueOf(lev), JSON.toJSONString(dynamicMatrix));
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}
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public Double[][][] getCdaMatrix(Integer lev) {
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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// redis
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if (null == this.cdaMatrix) {
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String cdaMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev));
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if (!Cools.isEmpty(cdaMatrixStr)) {
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String[][] cdaStrMatrix = JSON.parseObject(cdaMatrixStr, String[][].class);
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this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix);
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}
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}
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// init
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if (null == this.cdaMatrix) {
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String[][] initCdaMatrix = this.initCdaMatrix(lev);
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setCdaMatrix(lev, initCdaMatrix);
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}
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// valid
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if (null == this.cdaMatrix) {
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throw new CoolException("the floor " + lev + " cannot found cda matrix !!!");
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}
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return this.cdaMatrix;
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}
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public void setCdaMatrix(Integer lev, String[][] cdaStrMatrix) {
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redis.setValue(RedisConstant.AGV_MAP_ASTAR_CDA_FLAG, String.valueOf(lev), JSON.toJSONString(cdaStrMatrix));
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this.cdaMatrix = MapDataUtils.preComputeCdaMatrix(cdaStrMatrix);
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}
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public int[][] getTurnMatrix(Integer lev) {
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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// redis
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if (null == this.turnMatrix) {
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String turnMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev));
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if (!Cools.isEmpty(turnMatrixStr)) {
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this.turnMatrix = JSON.parseObject(turnMatrixStr, int[][].class);
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}
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}
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// init
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if (null == this.turnMatrix) {
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int[][] initTurnMatrix = this.initTurnMatrix(lev);
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setTurnMatrix(lev, initTurnMatrix);
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}
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// valid
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if (null == this.turnMatrix) {
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throw new CoolException("the floor " + lev + " cannot found turn matrix !!!");
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}
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return this.turnMatrix;
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}
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public void setTurnMatrix(Integer lev, int[][] turnMatrix) {
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redis.setValue(RedisConstant.AGV_MAP_ASTAR_TURN_FLAG, String.valueOf(lev), JSON.toJSONString(turnMatrix));
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this.turnMatrix = turnMatrix;
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}
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public int[][] getMapMatrix(Integer lev, List<String> lockNodes) {
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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// redis
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if (null == this.mapMatrix) {
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String mapMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev));
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if (!Cools.isEmpty(mapMatrixStr)) {
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this.mapMatrix = JSON.parseObject(mapMatrixStr, int[][].class);
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}
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}
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// init
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if (null == this.mapMatrix) {
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int[][] initMapMatrix = this.initMapMatrix(lev);
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setMapMatrix(lev, initMapMatrix);
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}
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// valid
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if (null == this.mapMatrix) {
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throw new CoolException("the floor " + lev + " cannot found map matrix !!!");
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}
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return this.mapMatrix;
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}
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public void setMapMatrix(Integer lev, int[][] mapMatrix) {
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redis.setValue(RedisConstant.AGV_MAP_ASTAR_FLAG, String.valueOf(lev), JSON.toJSONString(mapMatrix));
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this.mapMatrix = mapMatrix;
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}
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public String[][] getCodeMatrix(Integer lev) {
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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// redis
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if (null == this.codeMatrix) {
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String codeMatrixStr = redis.getValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev));
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if (!Cools.isEmpty(codeMatrixStr)) {
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this.codeMatrix = JSON.parseObject(codeMatrixStr, String[][].class);
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}
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}
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// init
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if (null == this.codeMatrix) {
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String[][] initCodeMatrix = this.initCodeMatrix(lev);
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setCodeMatrix(lev, initCodeMatrix);
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}
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// valid
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if (null == this.codeMatrix) {
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throw new CoolException("the floor " + lev + " cannot found code matrix !!!");
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}
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return this.codeMatrix;
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}
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public void setCodeMatrix(Integer lev, String[][] codeMatrix) {
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redis.setValue(RedisConstant.AGV_MAP_ASTAR_CODE_FLAG, String.valueOf(lev), JSON.toJSONString(codeMatrix));
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this.codeMatrix = codeMatrix;
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}
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public String[][] initWaveMatrix(Integer lev) {
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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String[][] codeMatrix = getCodeMatrix(lev);
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String[][] waveMatrix = new String[codeMatrix.length][codeMatrix[0].length];
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
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waveMatrix[i][j] = WaveNodeType.DISABLE.val;
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} else {
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waveMatrix[i][j] = WaveNodeType.ENABLE.val;
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}
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}
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}
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return waveMatrix;
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}
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public synchronized DynamicNode[][] initDynamicMatrix(Integer lev) {
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log.info("There is initializing Dynamic Matrix......");
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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String[][] codeMatrix = getCodeMatrix(lev);
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if (null == codeMatrix || codeMatrix.length == 0) {
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return new DynamicNode[0][0];
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}
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DynamicNode[][] dynamicMatrix = new DynamicNode[codeMatrix.length][codeMatrix[0].length];
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
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dynamicMatrix[i][j] = new DynamicNode(DynamicNodeType.BLOCK.val);
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} else {
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dynamicMatrix[i][j] = new DynamicNode(DynamicNodeType.ACCESS.val);
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}
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}
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}
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return dynamicMatrix;
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}
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public synchronized String[][] initCdaMatrix(Integer lev) {
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log.info("There is initializing Cda Matrix......");
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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if (Cools.isEmpty(xIdxList, yIdxList)) {
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this.initCodeMatrix(lev);
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}
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String[][] codeMatrix = getCodeMatrix(lev);
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String[][] cdaMatrix = new String[codeMatrix.length][codeMatrix[0].length];
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
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List<Double> cdaArr = new ArrayList<>();
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cdaArr.add(xIdxList.get(j));
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cdaArr.add(yIdxList.get(i));
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cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
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} else {
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Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
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if (null != currCode) {
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List<Double> cdaArr = new ArrayList<>();
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cdaArr.add(currCode.getX());
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cdaArr.add(currCode.getY());
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cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
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} else {
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cdaMatrix[i][j] = CdaNodeType.EMPTY.val;
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}
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}
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}
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}
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return cdaMatrix;
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}
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public synchronized int[][] initTurnMatrix(Integer lev) {
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log.info("There is initializing Turn Matrix......");
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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String[][] codeMatrix = getCodeMatrix(lev);
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int[][] turnMatrix = new int[codeMatrix.length][codeMatrix[0].length];
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
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turnMatrix[i][j] = TurnNodeType.NONE.val;
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} else {
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Code currCode = codeService.getCacheByData(codeMatrix[i][j]);
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List<String> neighborCodeList = routeService.findCodeDataOfSingle(currCode.getId());
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switch (neighborCodeList.size()) {
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case 0:
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case 1:
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turnMatrix[i][j] = TurnNodeType.STRAIGHT.val;
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break;
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case 2:
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String firstCode = neighborCodeList.get(0); assert !Cools.isEmpty(firstCode);
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String secondCode = neighborCodeList.get(1); assert !Cools.isEmpty(secondCode);
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int[] firstIdx = this.getCodeMatrixIdx(lev, firstCode);
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int[] secondIdx = this.getCodeMatrixIdx(lev, secondCode);
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if (firstIdx[0] != secondIdx[0] && firstIdx[1] != secondIdx[1]) {
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turnMatrix[i][j] = TurnNodeType.TURN.val;
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} else {
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turnMatrix[i][j] = TurnNodeType.STRAIGHT.val;
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}
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break;
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default:
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turnMatrix[i][j] = TurnNodeType.TURN.val;
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break;
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}
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}
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}
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}
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// System.out.println("====================================================");
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// printMatrix(turnMatrix);
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return turnMatrix;
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}
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public synchronized int[][] initMapMatrix(Integer lev) {
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log.info("There is initializing Map Matrix......");
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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String[][] codeMatrix = getCodeMatrix(lev);
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int[][] mapMatrix = new int[codeMatrix.length][codeMatrix[0].length];
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
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mapMatrix[i][j] = MapNodeType.DISABLE.val;
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} else {
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mapMatrix[i][j] = MapNodeType.ENABLE.val;
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}
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}
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}
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// printMatrix(mapMatrix);
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return mapMatrix;
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}
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public boolean validRouteCdaKey(String routeCdaKey) {
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if (Cools.isEmpty(routeCdaKey)) {
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return false;
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}
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Boolean result = this.routeCdaMap.get(routeCdaKey);
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if (null == result) {
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return false;
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}
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return result;
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}
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public synchronized void initRouteMap(Integer lev) {
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log.info("There is initializing Route Map......");
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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Set<String> routeKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG);
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Set<String> routeCdaKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG);
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List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
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if (routeKeys.size() == routeList.size() && routeKeys.size() == routeCdaKeys.size()) {
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for (String routeCdaKey : routeCdaKeys) {
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this.routeCdaMap.put(routeCdaKey, Boolean.TRUE);
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}
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return;
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}
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for (Route route : routeList) {
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Code startCode = codeService.getCacheById(route.getStartCode());
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int[] startCodeIdx = getCodeMatrixIdx(lev, startCode.getData());
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Code endCode = codeService.getCacheById(route.getEndCode());
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int[] codeMatrixIdx = getCodeMatrixIdx(lev, endCode.getData());
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String routeKey = RouteGenerator.generateRouteKey(startCode.getData(), endCode.getData());
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if (Cools.isEmpty(routeKey)) {
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continue;
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}
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redis.setMap(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG, routeKey, Boolean.TRUE);
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String routeCdaKey = RouteGenerator.generateRouteCdaKey(startCodeIdx, codeMatrixIdx);
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if (Cools.isEmpty(routeCdaKey)) {
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continue;
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}
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redis.setMap(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG, routeCdaKey, Boolean.TRUE);
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this.routeCdaMap.put(routeCdaKey, Boolean.TRUE);
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}
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}
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public synchronized String[][] initCodeMatrix(Integer lev) {
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log.info("There is initializing Code Matrix......");
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>()
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.eq(Code::getStatus, 1)
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.orderByAsc(Code::getY)
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.orderByAsc(Code::getX)
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);
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xIdxList = new ArrayList<>();
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yIdxList = new ArrayList<>();
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for (Code code : codeList) {
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Double x = code.getX();
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Double y = code.getY();
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if (null == x || null == y) { continue; }
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if (!xIdxList.contains(x)) {
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xIdxList.add(x);
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}
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if (!yIdxList.contains(y)) {
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yIdxList.add(y);
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}
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}
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xIdxList.sort((o1, o2) -> (int) ((o1 * 100) - (o2 * 100)));
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yIdxList.sort((o1, o2) -> (int) ((o1 * 100) - (o2 * 100)));
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// [][] 第一个是排的数量 第二个是列的数量
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String[][] codeMatrix = new String[yIdxList.size()][xIdxList.size()];
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for (Code code : codeList) {
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Double x = code.getX();
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Double y = code.getY();
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codeMatrix[yIdxList.indexOf(y)][xIdxList.indexOf(x)] = code.getData();
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}
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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if (codeMatrix[i][j] == null) {
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codeMatrix[i][j] = CodeNodeType.NONE.val;
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}
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}
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}
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printMatrix(codeMatrix);
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return codeMatrix;
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}
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public int[] getCodeMatrixIdx(Integer lev, String codeData) {
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if (Cools.isEmpty(codeData)) {
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return null;
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}
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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String[][] codeMatrix = this.getCodeMatrix(lev);
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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if (codeMatrix[i][j].equals(codeData)) {
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return new int[]{i, j};
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}
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}
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}
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return null;
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}
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public List<int[]> getCodeMatrixIdxList(Integer lev, List<String> codeDataList) {
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if (Cools.isEmpty(codeDataList)) {
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return new ArrayList<>();
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}
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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String[][] codeMatrix = this.getCodeMatrix(lev);
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List<int[]> codeMatrixIdxList = new ArrayList<>();
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Map<String, int[]> map = new HashMap<>();
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Set<String> codeDataSet = new HashSet<>(codeDataList);
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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String codeData = codeMatrix[i][j];
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if (codeDataSet.contains(codeData)) {
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map.put(codeData, new int[]{i, j});
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}
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}
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}
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for (String codeData : codeDataList) {
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int[] codeMatrixIdx = map.get(codeData);
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if (codeMatrixIdx != null) {
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codeMatrixIdxList.add(codeMatrixIdx);
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}
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}
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return codeMatrixIdxList;
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}
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public void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle) {
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this.modifyDynamicMatrix(lev, codeIdxList, vehicle, false);
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}
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public synchronized void modifyDynamicMatrix(Integer lev, List<int[]> codeIdxList, String vehicle, boolean reset) {
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if (Cools.isEmpty(vehicle)) {
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return;
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}
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lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
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DynamicNode[][] dynamicMatrix = getDynamicMatrix(lev);
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if (!reset) {
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// long time = System.currentTimeMillis() / 1000;
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int serial = 1;
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for (int[] codeMatrixIdx : codeIdxList) {
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dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]] = new DynamicNode(vehicle, serial);
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serial++;
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}
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} else {
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for (int i = 0; i < dynamicMatrix.length; i++) {
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for (int j = 0; j < dynamicMatrix[i].length; j++) {
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DynamicNode dynamicNode = dynamicMatrix[i][j];
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if (vehicle.equals(dynamicNode.getVehicle())) {
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dynamicMatrix[i][j] = new DynamicNode(DynamicNodeType.ACCESS.val);
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}
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}
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}
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}
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setDynamicMatrix(lev, dynamicMatrix);
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}
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public void clearDynamicMatrixByCodeList(Integer lev, List<int[]> codeIdxList) {
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this.modifyDynamicMatrix(lev, codeIdxList, DynamicNodeType.ACCESS.val);
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}
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public int[][] filterMapData(int[][] mapMatrix, Integer lev, List<String> lockNodes) {
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String[][] codeMatrix = getCodeMatrix(lev);
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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String code = codeMatrix[i][j];
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if (lockNodes.contains(code)) {
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mapMatrix[i][j] = MapNodeType.LOCKED.val;
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}
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}
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}
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return mapMatrix;
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}
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public <T> void printMatrix(T[][] matrix) {
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for (T[] list : matrix) {
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for (T t : list) {
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System.out.format("%10s", t);
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}
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System.out.println();
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}
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}
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public void printMatrix(int[][] matrix) {
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for (int[] list : matrix) {
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for (int t : list) {
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System.out.format("%10s", t);
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}
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System.out.println();
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}
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}
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}
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