package com.zy.acs.manager.core.service;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.manager.common.domain.MockAgvDto;
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import com.zy.acs.manager.common.domain.MockDto;
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import com.zy.acs.manager.common.domain.MockStepDto;
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import com.zy.acs.manager.common.domain.MockVo;
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import com.zy.acs.manager.common.exception.BusinessException;
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import com.zy.acs.manager.core.domain.AgvMockDto;
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import com.zy.acs.manager.core.domain.TaskPosDto;
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import com.zy.acs.manager.core.service.astart.AStarNavigateService;
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import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.entity.Code;
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import com.zy.acs.manager.manager.entity.CodeGap;
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import com.zy.acs.manager.manager.service.AgvDetailService;
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import com.zy.acs.manager.manager.service.AgvService;
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import com.zy.acs.manager.manager.service.CodeGapService;
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import com.zy.acs.manager.manager.service.CodeService;
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import com.zy.acs.manager.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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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 org.springframework.transaction.annotation.Transactional;
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import java.util.*;
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/**
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* Created by vincent on 2023/7/29
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*/
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@Slf4j
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@Service
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public class MockService {
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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@Autowired
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private MapService mapService;
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private CodeGapService codeGapService;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@Autowired
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private AStarNavigateService aStarNavigateService;
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@Autowired
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private ConfigService configService;
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public void astarMock() {
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Code startCode = codeService.selectByData("00000028");
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Code endCode = codeService.selectByData("00000057");
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List<String> strings = mapService.checkoutPath("1", startCode, endCode, false);
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List<String> pathList = mapService.validFeasibility(startCode, endCode);
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System.out.println("end");
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}
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@Transactional
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public List<MockVo> submit(List<MockAgvDto> agvList, List<MockDto> taskList) {
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final String sameGroupXy = configService.getVal("sameGroupXy", String.class);
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List<MockVo> result = new ArrayList<>();
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if (Cools.isEmpty(taskList)) {
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throw new BusinessException("请添加 MOCK 任务");
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}
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taskList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());
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// 以 agv 分组
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List<AgvMockDto> taskDtos = new ArrayList<>();
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for (MockDto task : taskList) {
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AgvMockDto taskDto = new AgvMockDto(task.getAgv(), task);
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if (AgvMockDto.has(taskDtos, taskDto)) {
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AgvMockDto dto = AgvMockDto.find(taskDtos, taskDto);
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assert dto != null;
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dto.getTaskList().add(task);
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} else {
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taskDtos.add(taskDto);
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}
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}
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// 重组当前 agv 的所有任务
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for (AgvMockDto taskDto : taskDtos) {
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/**
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* key：y 坐标 + 任务类别（货架取货、站点取货、货架放货、站点放货）
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* val：任务id + 任务坐标 + 条码 + 任务类别
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*/
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Map<String, List<TaskPosDto>> groups = new HashMap<>();
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for (MockDto mockDto : taskDto.getTaskList()) {
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Code startCode = codeService.selectByData(mockDto.getStart());
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Code endCode = codeService.selectByData(mockDto.getEnd());
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TaskPosDto.packagePosGroup(groups, null, startCode, TaskPosDto.PosType.ORI_LOC, sameGroupXy);
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TaskPosDto.packagePosGroup(groups, null, endCode, TaskPosDto.PosType.DEST_LOC, sameGroupXy);
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}
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// 二维数组 （ 每组的 y坐标 和 任务类别 一致）
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ArrayList<List<TaskPosDto>> list = new ArrayList<>(groups.values());
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// 二位数组 子数组 已经能确定 y坐标为一致。所有 get(0).xy[1] 为排序（就是一排一排任务进行排序），对 一排排任务以 y坐标 就行降序排序
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list.sort((o1, o2) -> {
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double o1CompVal = (o1.get(0).getFirstWeight(sameGroupXy) * 100) + o1.get(0).getPosType().compOffset;
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double o2CompVal = (o2.get(0).getFirstWeight(sameGroupXy) * 100) + o2.get(0).getPosType().compOffset;
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return (int) (o1CompVal - o2CompVal);
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});
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// 对一排任务进行 x坐标 顺序排序，防止来回走行
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for (List<TaskPosDto> taskPosDtoList : list) {
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taskPosDtoList.sort((o1, o2) -> (int) (o1.getSecondWeight(sameGroupXy) * 100 - o2.getSecondWeight(sameGroupXy) * 100));
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}
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// 上一次的 code， 第一次为 agv 当前code
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String lastCodeData = this.getPosCode(agvList, taskDto.getAgvId());
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if (Cools.isEmpty(lastCodeData)) {
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throw new BusinessException(taskDto.getAgvId() + "号 agv 不在条码定位上！");
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}
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Code lastCode = codeService.selectByData(lastCodeData);
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// 走行路径集合
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List<MockStepDto> stepList = new ArrayList<>();
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stepList.add(new MockStepDto(lastCodeData, Boolean.FALSE));
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for (List<TaskPosDto> taskPosDtoList : list) {
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for (TaskPosDto dto : taskPosDtoList) {
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// 目标 code
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Code code = codeService.getById(dto.getCodeId());
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if (!lastCode.getData().equals(code.getData())) {
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// 计算路径节点
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List<String> pathList = mapService.checkoutPath(taskDto.getAgvId(), lastCode, code, true);
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mapDataDispatcher.clearDynamicMatrixByCodeList(null, pathList);
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// List<String> pathList = mapService.validFeasibility(lastCode, code);
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if (Cools.isEmpty(pathList)) {
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throw new BusinessException(lastCode.getData() + " 至 " + code.getData() + "没有路径！");
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}
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// 第一个节点为本身， 所以从 下标1 开始
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for (int i = 1; i < pathList.size(); i++) {
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String next = pathList.get(i);
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Code nextCode = codeService.selectByData(next);
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boolean pause = nextCode.getId().equals(dto.getCodeId());
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String action = "";
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if (pause) {
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switch (dto.getPosType()){
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case ORI_LOC:
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case ORI_STA:
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action = "PICK";
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break;
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case DEST_LOC:
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case DEST_STA:
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action = "DROP";
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break;
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default:
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break;
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}
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}
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stepList.add(new MockStepDto(nextCode.getData(), pause, action));
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lastCode = nextCode;
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}
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}
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}
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}
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result.add(new MockVo(taskDto.getAgvId(), stepList));
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}
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plusData(result);
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for (MockVo mockVo : result) {
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// redis.setObject("PATH", mockVo.getAgv(), mockVo.getStepList().stream().map(MockStepDto::getCode).collect(Collectors.toList()));
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}
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return result;
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}
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private String getPosCode(List<MockAgvDto> agvList, String agv) {
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for (MockAgvDto agvDto : agvList) {
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if (agv.equals(agvDto.getAgv())) {
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return agvDto.getPos();
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}
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}
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return null;
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}
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private void plusData(List<MockVo> result) {
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for (MockVo mockVo : result) {
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int size = mockVo.getStepList().size();
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int time = size * 500;
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Code lastCode = null;
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double totalDistance = 0;
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for (MockStepDto stepDto : mockVo.getStepList()) {
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Code code = codeService.selectByData(stepDto.getCode());
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if (null != lastCode) {
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CodeGap gap = codeGapService.findByCodeOfBoth(code.getId(), lastCode.getId());
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if (null != gap) {
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totalDistance += gap.getDistance();
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stepDto.setDistance(gap.getDistance());
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}
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}
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lastCode = code;
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}
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for (MockStepDto stepDto : mockVo.getStepList()) {
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if (null != stepDto.getDistance()) {
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double rate = stepDto.getDistance() / totalDistance;
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stepDto.setTime((int)(rate * time));
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}
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}
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}
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}
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public List<MockVo> imitate() {
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Agv agv = agvService.selectByUuid("1");
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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MockAgvDto mockAgvDto = new MockAgvDto();
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mockAgvDto.setAgv(agv.getUuid());
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mockAgvDto.setPos(codeService.getById(agvDetail.getCode()).getData());
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List<MockAgvDto> mockAgvDtos = new ArrayList<>();
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mockAgvDtos.add(mockAgvDto);
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List<MockDto> taskList = new ArrayList<>();
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List<Code> codeList = codeService.list();
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Random random = new Random();
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List<Integer> exitCodes = new ArrayList<>();
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for (int i = 0; i < agv.getStage(); i++) {
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MockDto mockDto = new MockDto();
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mockDto.setAgv(agv.getUuid());
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int startIdx;
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do {
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startIdx = random.nextInt(codeList.size());
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} while (exitCodes.contains(startIdx));
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exitCodes.add(startIdx);
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Code startCode = codeList.get(startIdx);
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int endIdx;
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do {
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endIdx = random.nextInt(codeList.size());
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} while (exitCodes.contains(endIdx));
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exitCodes.add(endIdx);
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Code endCode = codeList.get(endIdx);
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mockDto.setStart(startCode.getData());
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mockDto.setEnd(endCode.getData());
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taskList.add(mockDto);
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}
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return this.submit(mockAgvDtos, taskList);
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}
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}
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