package com.zy.acs.manager.manager.controller;
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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.utils.GsonUtils;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.common.R;
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import com.zy.acs.framework.common.SnowflakeIdWorker;
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import com.zy.acs.framework.exception.CoolException;
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import com.zy.acs.manager.common.constant.MapItemType;
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import com.zy.acs.manager.common.domain.MapAgvDto;
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import com.zy.acs.manager.common.domain.MapCodeDto;
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import com.zy.acs.manager.common.domain.MapDto;
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import com.zy.acs.manager.common.domain.MapRouteDto;
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import com.zy.acs.manager.common.exception.BusinessException;
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import com.zy.acs.manager.core.service.PatrolService;
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import com.zy.acs.manager.core.domain.BackpackDto;
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import com.zy.acs.manager.core.service.MapService;
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import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
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import com.zy.acs.manager.manager.controller.param.MapDataParam;
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import com.zy.acs.manager.manager.controller.param.MapParam;
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import com.zy.acs.manager.manager.controller.result.MapAgvVo;
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import com.zy.acs.manager.manager.controller.result.MapPointVo;
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import com.zy.acs.manager.manager.controller.result.MapRouteVo;
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import com.zy.acs.manager.manager.entity.NavMap;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.AgvStsType;
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import com.zy.acs.manager.manager.enums.StatusType;
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import com.zy.acs.manager.manager.enums.TaskStsType;
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import com.zy.acs.manager.manager.mapper.NavMapMapper;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.controller.BaseController;
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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.security.access.prepost.PreAuthorize;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.web.bind.annotation.*;
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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 2023/6/1
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*/
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@RestController
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@RequestMapping("/api/map")
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public class MapController extends BaseController {
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@Autowired
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private CodeService codeService;
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@Autowired
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private RouteService routeService;
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@Autowired
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private CodeGapService codeGapService;
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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 FloydNavigateService floydNavigateService;
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@Autowired
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private MapService mapService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private NavMapMapper navMapMapper;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private LocService locService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private PatrolService patrolService;
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@PreAuthorize("hasAuthority('manager:loc:update')")
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@PostMapping("/startupOrShutdown")
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public synchronized R startupOrShutdown() {
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Boolean taskAssignMode = configService.getVal("TaskAssignMode", Boolean.class);
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return configService.setVal("TaskAssignMode", !taskAssignMode) ? R.ok() : R.error();
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}
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@PreAuthorize("hasAuthority('manager:loc:list')")
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@PostMapping("/data/fetch")
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public R fetch(@RequestParam(required = false) Long zoneId, @RequestParam(required = false) Integer floor) {
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// code
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List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
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List<MapItem> mapCodeItems = new ArrayList<>();
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codeList.forEach(code -> {
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MapItem mapItem = new MapItem();
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mapItem.setType(MapItemType.POINT.toString());
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mapItem.setNo(code.getData());
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mapItem.setUuid(code.getUuid());
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mapItem.setPositionX(code.getX());
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mapItem.setPositionY(code.getY());
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mapCodeItems.add(mapItem);
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});
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// common
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NavMap activeNavMap = navMapMapper.selectActive(zoneId, floor);
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return R.ok().add(Cools
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.add("rcsStatus", configService.getVal("TaskAssignMode", Boolean.class))
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.add("point", GsonUtils.toJson(mapCodeItems))
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.add("common", null != activeNavMap ? activeNavMap.getData() : null)
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);
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}
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@PreAuthorize("hasAuthority('manager:loc:update')")
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@PostMapping("/data/save")
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@Transactional
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public R save(@RequestBody MapDataParam param) {
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Date now = new Date();
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Long userId = getLoginUserId();
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// previous
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NavMap previousNavMap = navMapMapper.selectActive(param.getZoneId(), param.getFloor());
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if (null != previousNavMap) {
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previousNavMap.setActive(0);
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previousNavMap.setUpdateTime(now);
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previousNavMap.setUpdateBy(userId);
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if (0 == navMapMapper.updateById(previousNavMap)) {
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throw new CoolException("Save Fail");
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}
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}
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// current
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NavMap navMap = new NavMap();
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navMap.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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navMap.setZoneId(param.getZoneId());
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navMap.setFloor(param.getFloor());
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navMap.setData(GsonUtils.toJson(param.getItemList()));
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navMap.setActive(1);
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navMap.setUpdateBy(userId);
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navMap.setCreateBy(userId);
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if (0 == navMapMapper.insert(navMap)) {
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throw new CoolException("Save Fail");
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}
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return R.ok("Save Success");
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}
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@PostMapping("/shelf/group")
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public R shelfGroup(@RequestParam(required = false) Integer row, @RequestParam(required = false) Integer bay) {
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if (null == row || null == bay) {
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return R.error();
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}
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List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>().eq(Loc::getRow, row).eq(Loc::getBay, bay).orderByAsc(Loc::getLev));
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return R.ok().add(locList);
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}
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@PostMapping("/agv/info")
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public R agvInfo(@RequestParam(required = false) String agvNo) {
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if (Cools.isEmpty(agvNo)) {
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return R.error();
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}
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Agv agv = agvService.selectByUuid(agvNo);
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AgvDetail agvDetail = agvDetailService.selectByAgvNo(agvNo);
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MapAgvVo vo = new MapAgvVo();
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vo.setAgvId(agv.getId());
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vo.setAgvNo(agv.getUuid());
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vo.setStatus(agv.getStatus());
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if (null != agvDetail) {
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vo.setOnline(agvService.judgeOnline(agvDetail.getAgvId()));
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vo.setAgvStatus(agvDetail.getStatusDesc());
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vo.setVol(String.valueOf(agvDetail.getVol()));
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vo.setSoc(String.valueOf(agvDetail.getSoc()));
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vo.setPos(agvDetail.getPos() != null && agvDetail.getPos() == 1);
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Code code = codeService.getCacheById(agvDetail.getRecentCode());
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if (null != code) {
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vo.setCode(code.getData());
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}
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vo.setDirection(agvDetail.getAgvAngle());
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vo.setBackpack(GsonUtils.fromJsonToList(agvDetail.getBackpack(), BackpackDto.class));
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vo.setPatrol(patrolService.isPatrolling(agvNo));
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String error = agvDetail.realError();
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if (!Cools.isEmpty(error)) {
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vo.setError(error);
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}
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}
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List<Task> tasks = taskService.selectInSts(agv.getId(), TaskStsType.WAITING, TaskStsType.ASSIGN, TaskStsType.PROGRESS);
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if (!Cools.isEmpty(tasks)) {
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vo.setTaskIds(tasks.stream().map(Task::getId).collect(Collectors.toList()));
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}
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return R.ok().add(vo);
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}
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@PostMapping("/point/info")
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public R pointInfo(@RequestParam(required = false) String codeData) {
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if (Cools.isEmpty(codeData)) {
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return R.error();
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}
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Code code = codeService.getCacheByData(codeData);
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MapPointVo vo = new MapPointVo();
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vo.setCodeId(code.getId());
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vo.setCodeData(code.getData());
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vo.setStatus(code.getStatus());
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return R.ok().add(vo);
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}
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@PostMapping("/route/list")
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public R routeList(@RequestParam(required = false) Long zoneId) {
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List<MapRouteVo> result = new ArrayList<>();
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List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, StatusType.ENABLE.val));
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for (Route route : routeList) {
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MapRouteVo vo = new MapRouteVo();
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vo.setRouteId(route.getId());
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vo.setStartCode(route.getStartCode());
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vo.setStartCodeStr(route.getStartCode$());
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vo.setEndCode(route.getEndCode());
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vo.setEndCodeStr(route.getEndCode$());
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vo.setDirection(route.getDirection());
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result.add(vo);
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}
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return R.ok().add(result);
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}
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@PreAuthorize("hasAuthority('map:save')")
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@PostMapping("/save")
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@Transactional
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public R save(@RequestBody MapParam param) {
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Date now = new Date();
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// code -----------------------------------------------------------------
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List<Code> codes = codeService.list();
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List<Code> codeArr = param.getCodeArr();
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for (Code code : codeArr) {
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Code one = codeService.getCacheByData(code.getData());
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if (one == null) {
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if (!codeService.save(code)) {
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throw new BusinessException(code.getData()+" save fail![Code]");
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}
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} else {
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one.setUpdateTime(now);
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if (!codeService.updateById(one)) {
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throw new BusinessException(code.getData()+" update fail![Code]");
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}
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}
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codes.removeIf(next -> code.getData().equals(next.getData()));
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}
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for (Code code : codes) {
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if (!codeService.removeById(code.getId())) {
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throw new BusinessException(code.getData()+" remove fail![Code]");
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}
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}
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// code -----------------------------------------------------------------
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// gap -----------------------------------------------------------------
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List<Route> routes = routeService.list();
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List<CodeGap> codeGaps = codeGapService.list();
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List<MapParam.Route> routeArr = param.getRouteArr();
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for (MapParam.Route paramRoute : routeArr) {
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Code startCode = codeService.getCacheByData(paramRoute.getStartCode());
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Code endCode = codeService.getCacheByData(paramRoute.getEndCode());
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Route route = routeService.findByCodeOfBoth(startCode.getId(), endCode.getId());
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if (route == null) {
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route = new Route();
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route.setUuid(startCode.getData()+"-"+endCode.getData());
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route.setStartCode(startCode.getId());
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route.setEndCode(endCode.getId());
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route.setDirection(paramRoute.getType());
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route.setCodeArr(JSON.toJSONString(Arrays.asList(startCode.getId(), endCode.getId())));
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if (!routeService.save(route)) {
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throw new BusinessException(route.getUuid()+" save fail![Route]");
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}
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} else {
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route.setUpdateTime(now);
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if (!routeService.updateById(route)) {
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throw new BusinessException(route.getUuid()+" update fail![Route]");
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}
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}
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Iterator<Route> iterator = routes.iterator();
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while (iterator.hasNext()) {
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Route next = iterator.next();
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if ((next.getStartCode().equals(route.getStartCode()) && next.getEndCode().equals(route.getEndCode()))
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|| (next.getStartCode().equals(route.getEndCode()) && next.getEndCode().equals(route.getStartCode()))) {
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iterator.remove();
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break;
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}
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}
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CodeGap codeGap = codeGapService.findByCodeOfBoth(startCode.getId(), endCode.getId());
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double distance = mapService.calculateDistance(startCode.getX(), startCode.getY(), endCode.getX(), endCode.getY());
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if (null == codeGap) {
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codeGap = new CodeGap();
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codeGap.setCode0(startCode.getId());
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codeGap.setCode1(endCode.getId());
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codeGap.setDistance(distance);
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if (!codeGapService.save(codeGap)) {
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throw new BusinessException(route.getUuid()+" save fail![CodeGap]");
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}
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} else {
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codeGap.setDistance(distance);
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if (!codeGapService.updateById(codeGap)) {
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throw new BusinessException(route.getUuid()+" update fail![CodeGap]");
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}
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}
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Iterator<CodeGap> gapIterator = codeGaps.iterator();
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while (gapIterator.hasNext()) {
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CodeGap next = gapIterator.next();
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if ((next.getCode0().equals(route.getStartCode()) && next.getCode1().equals(route.getEndCode()))
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|| (next.getCode0().equals(route.getEndCode()) && next.getCode1().equals(route.getStartCode()))) {
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gapIterator.remove();
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break;
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}
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}
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}
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for (Route route : routes) {
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if (!routeService.removeById(route.getId())) {
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throw new BusinessException(route.getUuid()+" remove fail![Route]");
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}
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}
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for (CodeGap codeGap : codeGaps) {
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if (!codeGapService.removeById(codeGap.getId())) {
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throw new BusinessException(codeGap.getId()+" remove fail![CodeGap]");
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}
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}
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// agv -----------------------------------------------------------------
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List<Agv> agvList = agvService.list();
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List<MapParam.Agv> agvArr = param.getAgvArr();
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for (MapParam.Agv agvParam : agvArr) {
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if (Cools.isEmpty(agvParam.getPos())) {
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throw new BusinessException(agvParam.getAgvNo() + " agv not in position！");
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}
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Code code = codeService.getCacheByData(agvParam.getPos());
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Agv agv = agvService.selectByUuid(agvParam.getAgvNo());
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if (agv == null) {
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agv = new Agv();
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agv.setAgvSts(AgvStsType.IDLE.val());
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agv.setUuid(agvParam.getAgvNo());
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agv.setStage(agvParam.getStage());
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agv.setMemo(agvParam.getMemo());
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if (!agvService.save(agv)) {
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throw new BusinessException(agv.getUuid()+" save fail![Agv]");
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}
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agvDetailService.removeByAgvId(agv.getId());
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AgvDetail agvDetail = new AgvDetail();
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agvDetail.setAgvId(agv.getId());
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agvDetail.setPos(1);
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agvDetail.setCode(code.getId());
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if (!agvDetailService.save(agvDetail)) {
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throw new BusinessException(agv.getUuid()+" save fail![AgvDetail]");
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}
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} else {
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agv.setStage(agvParam.getStage());
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agv.setMemo(agvParam.getMemo());
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agv.setUpdateTime(now);
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if (!agvService.updateById(agv)) {
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throw new BusinessException(agv.getUuid()+" update fail![Agv]");
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}
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) {
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agvDetail = new AgvDetail();
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agvDetail.setAgvId(agv.getId());
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agvDetail.setPos(1);
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agvDetail.setCode(code.getId());
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if (!agvDetailService.save(agvDetail)) {
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throw new BusinessException(agv.getUuid()+" save fail![AgvDetail]");
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}
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} else {
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agvDetail.setPos(1);
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agvDetail.setCode(code.getId());
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agvDetail.setUpdateTime(now);
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if (!agvDetailService.updateById(agvDetail)) {
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throw new BusinessException(agv.getUuid()+" update fail![AgvDetail]");
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}
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}
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}
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agvList.removeIf(next -> agvParam.getAgvNo().equals(next.getUuid()));
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}
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for (Agv agv : agvList) {
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if (!agvService.removeById(agv.getId())) {
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throw new BusinessException(agv.getUuid()+" remove fail![Agv]");
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}
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}
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floydNavigateService.generateMatrix();
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return R.ok("保存成功");
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}
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@PreAuthorize("hasAuthority('map:load')")
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@GetMapping("/load")
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public R load() {
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MapDto mapDto = new MapDto();
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List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1));
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for (Code code : codeList) {
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MapCodeDto codeDto = new MapCodeDto();
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codeDto.setData(code.getData());
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codeDto.setScale(JSON.parseObject(code.getScale()));
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codeDto.setX(code.getX());
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codeDto.setY(code.getY());
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codeDto.setMemo(code.getMemo());
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mapDto.getCodeList().add(codeDto);
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}
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List<Route> routeList = routeService.list(new LambdaQueryWrapper<Route>().eq(Route::getStatus, 1));
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for (Route route : routeList) {
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MapRouteDto routeDto = new MapRouteDto();
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routeDto.setUuid(route.getUuid());
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routeDto.setStartCode(route.getStartCode$());
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routeDto.setEndCode(route.getEndCode$());
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routeDto.setDirection(route.getDirection());
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mapDto.getRouteList().add(routeDto);
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}
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<Agv>().ne(Agv::getAgvSts, AgvStsType.DISABLED.val()).eq(Agv::getStatus, 1));
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for (Agv agv : agvList) {
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) { continue; }
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Code currCode = codeService.getCacheById(agvDetail.getCode());
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MapAgvDto agvDto = new MapAgvDto();
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agvDto.setUuid(agv.getUuid());
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agvDto.setCurrCode(currCode==null?null:currCode.getData());
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agvDto.setStage(agv.getStage());
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mapDto.getAgvList().add(agvDto);
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}
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return R.ok().add(mapDto);
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}
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}
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