package com.zy.acs.manager.manager.service.impl;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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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.exception.BusinessException;
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import com.zy.acs.manager.core.service.MapService;
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import com.zy.acs.manager.manager.controller.result.MissionVo;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.*;
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import com.zy.acs.manager.manager.service.*;
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import org.apache.ibatis.session.SqlSession;
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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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import java.util.stream.Collectors;
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/**
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* Created by vincent on 9/27/2024
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*/
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@Service("missionService")
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public class MissionServiceImpl implements MissionService {
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@Autowired
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private SegmentService segmentService;
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@Autowired
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private ActionService actionService;
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@Autowired
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private CodeService codeService;
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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 BusService busService;
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@Autowired
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private SqlSession sqlSession;
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@Override
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public List<MissionVo> getList(Long agvId, String groupNo) {
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List<MissionVo> result = new ArrayList<>();
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List<String> runningGroupNos = segmentService.getGroupNo(SegmentStateType.RUNNING, agvId, groupNo);
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for (String runningGroupNo : runningGroupNos) {
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MissionVo vo = generateVo(runningGroupNo);
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if (null != vo) {
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result.add(vo);
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}
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}
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return result;
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}
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@Override
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public MissionVo generateVo(String groupNo) {
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if (Cools.isEmpty(groupNo)) {
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return null;
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}
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// segment -------------------------------
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List<Segment> list = segmentService.list(new LambdaQueryWrapper<Segment>().eq(Segment::getGroupId, groupNo).orderByAsc(Segment::getSerial));
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if (Cools.isEmpty(list)) {
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return null;
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}
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Segment segment = list.get(0);
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// agv -------------------------------
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AgvDetail agvDetail = agvDetailService.selectByAgvId(segment.getAgvId());
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Long recentCode = agvDetail.getRecentCode();
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String currCode = null;
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if (null != recentCode) {
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Code cacheById = codeService.getCacheById(recentCode);
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if (cacheById != null) {
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currCode = cacheById.getData();
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} else {
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throw new CoolException(segment.getAgvId() + "小车还在删除的点位中");
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}
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}
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// action -------------------------------
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List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
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.eq(Action::getGroupId, groupNo).ne(Action::getActionSts, ActionStsType.EXPIRED.val()).orderByDesc(Action::getPriority));
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if (Cools.isEmpty(actionList)) {
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return null;
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}
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MissionVo vo = new MissionVo();
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vo.setGroupNo(groupNo);
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vo.setId(segment.getId());
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vo.setPosType(segment.getPosType());
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vo.setAgv(segment.getAgvId$());
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vo.setTaskNos(list.stream().map(Segment::getTaskId$).collect(Collectors.toList()));
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vo.setBackpack(segment.getBackpack());
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vo.setDestCode(segment.getEndNode$());
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vo.setCurrCode(currCode);
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vo.setProgress(calcProgress(currCode, actionList));
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return vo;
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}
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@Override
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public MissionVo generateVoMoreInfo(String groupNo) {
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MissionVo vo = generateVo(groupNo);
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if (null == vo) {
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return vo;
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}
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List<Segment> list = segmentService.list(new LambdaQueryWrapper<Segment>().eq(Segment::getGroupId, groupNo).orderByAsc(Segment::getSerial));
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if (Cools.isEmpty(list)) {
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return null;
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}
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List<Action> actionList = actionService.list(new LambdaQueryWrapper<Action>()
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.eq(Action::getGroupId, groupNo).ne(Action::getActionSts, ActionStsType.EXPIRED.val()).orderByDesc(Action::getPriority));
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if (Cools.isEmpty(actionList)) {
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return null;
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}
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Segment segment = list.get(0);
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Action action = actionList.get(0);
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Task task = taskService.getById(segment.getTaskId());
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// vo.setSendTime(action.getStartTime());
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vo.setBusNo(task.getBusId$());
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vo.setActionCount(actionList.size());
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vo.setTaskIds(list.stream().map(Segment::getTaskId).collect(Collectors.toList()));
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vo.setCodeList(actionList.stream().map(Action::getCode).distinct().collect(Collectors.toList()));
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vo.setActionIds(actionList.stream().map(Action::getId).collect(Collectors.toList()));
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return vo;
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}
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@Override
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@Transactional
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public Boolean resend(List<Action> actionList) {
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if (Cools.isEmpty(actionList)) {
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return Boolean.FALSE;
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}
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Date now = new Date();
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List<Long> actionIds = actionList.stream().map(Action::getId).collect(Collectors.toList());
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Action firstAction = actionService.getById(actionIds.get(0));
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if (firstAction == null) {
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return Boolean.FALSE;
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}
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String actionGroupId = firstAction.getGroupId();
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actionService.updateStsByGroupId(actionGroupId, ActionStsType.EXPIRED.val());
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// if firstAction is not turn, insert a new turn action
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Action prependTurn = null;
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if (!firstAction.getActionType().equals(ActionTypeType.TurnCorner.val())) {
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String codeData = firstAction.getCode();
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Code code = codeService.getCacheByData(codeData);
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AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(firstAction.getAgvId());
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Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());
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List<Action> fullActionList = actionService.list(new LambdaQueryWrapper<Action>()
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.eq(Action::getGroupId, actionGroupId)
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.select(Action::getId, Action::getActionType, Action::getPriority)
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.orderByDesc(Action::getPriority)
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);
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int idx = -1;
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for (int k = 0; k < fullActionList.size(); k++) {
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if (fullActionList.get(k).getId().equals(firstAction.getId())) {
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idx = k;
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break;
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}
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}
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if (idx > 0) {
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Long turnActionId = null;
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// find out turn action
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for (int k = idx - 1; k >= 0; k--) {
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Action a = fullActionList.get(k);
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if (a.getActionType().equals(ActionTypeType.TurnCorner.val())) {
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turnActionId = a.getId();
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break;
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}
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}
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if (null != turnActionId) {
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Action turn = actionService.getById(turnActionId);
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Double direction = Double.parseDouble(turn.getParams());
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if (!lastDirection.equals(direction)) {
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if (!code.getCornerBool()) {
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throw new CoolException(agvDetail.getAgvId$() + "号小车方向错误，请推至转弯点手动调整");
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}
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}
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// new turn action
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prependTurn = new Action(
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null, // 编号
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firstAction.getBusId(), // 总线
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firstAction.getTaskId(), // 任务
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null, // 动作号
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null, // 优先级
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ActionTypeType.TurnCorner.desc, // 名称
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(double) MapService.calcSpinDirection(code, lastDirection, direction).val, // 属性值
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code.getData(), // 地面码
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String.valueOf(direction), // 动作参数
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ActionTypeType.TurnCorner.val(), // 动作类型
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ActionStsType.PREPARE.val(), // 动作进度
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firstAction.getAgvId(), // AGV
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now // 工作时间
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);
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}
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}
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}
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List<Action> newActionList = new ArrayList<>();
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if (prependTurn != null) {
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prependTurn.setGroupId(actionGroupId);
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prependTurn.setCreateTime(now);
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prependTurn.setUpdateTime(now);
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newActionList.add(prependTurn);
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}
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for (Long actionId : actionIds) {
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sqlSession.clearCache();
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Action action = actionService.getById(actionId);
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action.setActionSts(ActionStsType.PREPARE.val());
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action.setIoTime(now);
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action.setUpdateTime(now);
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newActionList.add(action);
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}
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int i = newActionList.size();
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for (Action action : newActionList) {
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action.setId(null);
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action.setPriority(i);
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if (!actionService.save(action)) {
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throw new BusinessException(action.getName() + " Action Save Fail!");
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}
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i -= 1;
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}
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Set<Long> busIds = new HashSet<>();
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List<Long> taskIds = actionService.selectTaskIdsByGroupId(actionGroupId);
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for (Long taskId : taskIds) {
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Task task = taskService.getById(taskId);
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if (null != task) {
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task.setTaskSts(TaskStsType.ASSIGN.val());
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task.setUpdateTime(now);
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task.setIoTime(now);
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if (!taskService.updateById(task)) {
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throw new BusinessException(task.getUuid() + " Task Update Fail!");
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}
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busIds.add(task.getBusId());
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}
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}
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for (Long busId : busIds) {
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Bus bus = busService.getById(busId);
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if (null != bus) {
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bus.setBusSts(BusStsType.PROGRESS.val());
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bus.setUpdateTime(now);
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if (!busService.updateById(bus)) {
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throw new BusinessException(bus.getUuid() + " Bus Update Fail!");
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}
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}
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}
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return Boolean.TRUE;
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}
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public Double calcProgress(String currCode, List<Action> actionList) {
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double progress = 0D;
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if (Cools.isEmpty(actionList, currCode)) {
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return progress;
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}
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List<String> codeList = actionList.stream().map(Action::getCode).distinct().collect(Collectors.toList());
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int totalCodes = codeList.size();
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int currentIndex = codeList.indexOf(currCode);
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if (currentIndex >= 0) {
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progress = (currentIndex + 1) * 100.0 / totalCodes;
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}
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return progress;
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}
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}
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