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.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.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.MapParam;
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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.service.*;
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import com.zy.acs.manager.system.controller.BaseController;
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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 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.Arrays;
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import java.util.Date;
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import java.util.Iterator;
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import java.util.List;
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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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@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.selectByData(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.selectByData(paramRoute.getStartCode());
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Code endCode = codeService.selectByData(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.selectByData(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.getById(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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