package com.zy.asrs.wcs.core.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONArray;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.SpringUtils;
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import com.zy.asrs.wcs.core.domain.dto.BasMapDto;
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import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
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import com.zy.asrs.wcs.core.entity.Loc;
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import com.zy.asrs.wcs.core.model.MapNode;
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import com.zy.asrs.wcs.core.model.enums.MapNodeType;
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import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
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import com.zy.asrs.wcs.core.service.LocService;
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import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
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import com.zy.asrs.wcs.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.io.*;
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import java.util.*;
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/**
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* A*算法地图获取类
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*/
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@Component
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public class NavigateMapData {
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@Autowired
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private LocService locService;
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@Autowired
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private DictService dictService;
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@Autowired
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private NavigateMapData navigateMapData;
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private Integer lev;//地图楼层
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public NavigateMapData() {
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this.lev = 1;
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}
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public NavigateMapData(Integer lev) {
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this.lev = lev;
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}
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public void setLev(Integer lev) {
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this.lev = lev;
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}
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public int[][] getData() {
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return getDataFromRedis(NavigationMapType.NONE.id, null, null);//默认读取无过滤的全部地图数据
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}
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/**
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* 尝试从redis获取数据
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*/
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public int[][] getDataFromRedis(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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String constantMap = DeviceRedisConstant.MAP;
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if(mapType == NavigationMapType.NONE_LOCK.id){
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constantMap = DeviceRedisConstant.BASE_MAP;
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}
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RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
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Object o = redisUtil.get(constantMap + lev);
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if (o == null) {
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return null;
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}
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BasMapDto basMap = JSON.parseObject(o.toString(), BasMapDto.class);
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String mapData = basMap.getData();
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return this.getDataFormString(mapData, mapType, whitePoints, shuttlePoints);
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}
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/**
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* 从List数据中获取地图
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*/
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public int[][] getDataFormString(String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
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List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
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int[][] map = new int[lists.size()][];
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int j = 0;
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for (List<MapNode> list : lists) {
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int[] tmp = new int[list.size()];
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int i = 0;
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for (MapNode mapNode : list) {
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//将数据添加进二维数组
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tmp[i++] = mapNode.getValue();
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}
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//数据添加进一维数组
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map[j++] = tmp;
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}
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return map;
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}
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//获取JSON格式数据-原始地图
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public List<List<MapNode>> getJsonDataFromDict(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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List<List<MapNode>> arrayList = getMapFromDict(lev);
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return arrayList;
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}
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//从数据字典中解析指定楼层地图数据
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public List<List<MapNode>> getMapFromDict(Integer currentLev) {
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List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
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.like(Dict::getFlag, "map-" + currentLev)
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.eq(Dict::getStatus, 1));
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TreeMap<Integer, ArrayList<ArrayList<MapNode>>> levData = new TreeMap<>();
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for (Dict dict : dicts) {
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String[] split = dict.getFlag().split("-");
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int lev = Integer.parseInt(split[1]);
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TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
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//排序Row
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JSONArray value = JSON.parseArray(dict.getValue());
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for (Object o : value) {
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JSONObject item = JSON.parseObject(o.toString());
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if (item.getString("type").equals("SHELF")) {
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JSONObject property = JSON.parseObject(item.getString("property"));
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Integer row1 = property.getInteger("row");
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ArrayList<JSONObject> bays = new ArrayList<>();
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if (rows.containsKey(row1)) {
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bays.addAll(rows.get(row1));
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}
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bays.add(property);
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rows.put(row1, bays);
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}
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}
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ArrayList<ArrayList<MapNode>> list = new ArrayList<>();
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//排序Bay
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for (Map.Entry<Integer, List<JSONObject>> entry : rows.entrySet()) {
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ArrayList<MapNode> nodes = new ArrayList<>();
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for (JSONObject object : entry.getValue()) {
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MapNode mapNode = new MapNode();
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mapNode.setValue(object.getInteger("shelfType"));
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mapNode.setTop(object.getInteger("top"));
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mapNode.setBottom(object.getInteger("bottom"));
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mapNode.setLeft(object.getInteger("left"));
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mapNode.setRight(object.getInteger("right"));
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mapNode.setRow(object.getInteger("row"));
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mapNode.setBay(object.getInteger("bay"));
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mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
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mapNode.setXBase(object.getInteger("refx"));
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mapNode.setYBase(object.getInteger("refy"));
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if(mapNode.getValue() == MapNodeType.CONVEYOR.id) {
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//输送线,判断小车是否可走
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if (object.containsKey("conveyorHasGo")) {
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if(object.getBoolean("conveyorHasGo")) {
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//小车可走
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mapNode.setValue(MapNodeType.CONVEYOR_CAR_GO.id);
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}
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}
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}
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nodes.add(mapNode);
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}
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Collections.sort(nodes, new Comparator<MapNode>() {
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@Override
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public int compare(MapNode o1, MapNode o2) {
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return Integer.compare(o1.getBay(), o2.getBay());
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}
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});
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ArrayList<MapNode> sortNodes = new ArrayList<>();
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int defaultBay = 1;//默认从1列开始
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for (MapNode node : nodes) {
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if (node.getBay() == defaultBay) {
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defaultBay++;
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sortNodes.add(node);
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continue;
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}
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//存在空缺节点，自动补足
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for (int i = defaultBay; i < node.getBay(); i++) {
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MapNode mapNode = new MapNode();
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mapNode.setValue(MapNodeType.DISABLE.id);
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mapNode.setTop(1000);
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mapNode.setBottom(1000);
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mapNode.setLeft(1000);
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mapNode.setRight(1000);
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mapNode.setRow(node.getRow());
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mapNode.setBay(i);
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mapNode.setNo(node.getRow() + "-" + i);
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mapNode.setXBase(0);
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mapNode.setYBase(0);
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sortNodes.add(mapNode);
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}
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defaultBay = node.getBay() + 1;
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sortNodes.add(node);
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}
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list.add(sortNodes);
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}
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levData.put(lev, list);
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}
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for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
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ArrayList<ArrayList<MapNode>> lists = entry.getValue();//获取地图
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MapNode mapNode = new MapNode();
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mapNode.setValue(MapNodeType.DISABLE.id);
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mapNode.setTop(1000);
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mapNode.setBottom(1000);
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mapNode.setLeft(1000);
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mapNode.setRight(1000);
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mapNode.setRow(0);
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mapNode.setBay(0);
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mapNode.setNo("0-0");
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mapNode.setXBase(0);
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mapNode.setYBase(0);
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//获取最长row
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int row = 0;
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//给每个row首尾增加-1节点
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for (ArrayList<MapNode> list : lists) {
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if (list.size() > row) {
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row = list.size();
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}
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list.add(0, mapNode.clone());
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list.add(mapNode.clone());
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}
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ArrayList<MapNode> headNodes = new ArrayList<>();
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ArrayList<MapNode> footerNodes = new ArrayList<>();
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for (int i = 0; i < row+2; i++) {
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headNodes.add(mapNode.clone());
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footerNodes.add(mapNode.clone());
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}
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lists.add(0, headNodes);
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lists.add(footerNodes);
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Integer lev = entry.getKey();
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Date now = new Date();
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RedisMapDto map = new RedisMapDto();
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map.setData(JSON.toJSONString(lists));
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map.setCreateTime(now);
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map.setUpdateTime(now);
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map.setLev(lev);
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List<List<MapNode>> mapNodeList = new ArrayList<>();
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mapNodeList.addAll(lists);
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return mapNodeList;
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}
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return null;
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}
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//获取JSON格式数据
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public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
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Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
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if (o == null) {
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return null;
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}
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BasMapDto basMap = JSON.parseObject(o.toString(), BasMapDto.class);
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ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
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List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//过滤地图数据
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return lists;
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}
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/**
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* 过滤地图数据
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* mapType -1=>无过滤，1=》过滤库位状态DFX，2=》过滤库位状态X
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*
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* @param whitePoints 白名单节点，不需要被过滤
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* @param shuttlePoints 穿梭车节点，需要加载进地图
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*/
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public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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List<List<MapNode>> lists = new ArrayList<>();
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//重建数据格式
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for (int i = 0; i < arrayList.size(); i++) {
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Object obj = arrayList.get(i);
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List<MapNode> list = JSON.parseArray(obj.toString(), MapNode.class);
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for (int j = 0; j < list.size(); j++) {
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MapNode mapNode = list.get(j);
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list.set(j, mapNode);
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}
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lists.add(list);
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}
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//过滤数据
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//获取当前楼层库位数据
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List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLev, lev)
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.eq(Loc::getStatus, 1)
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.orderByAsc(Loc::getRow, Loc::getBay));
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for (Loc loc : locs) {
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Integer row = loc.getRow();
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Integer bay = loc.getBay();
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boolean whiteFlag = false;//默认不存在白名单
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if (whitePoints != null) {
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for (int[] whitePoint : whitePoints) {
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if (whitePoint[0] == row && whitePoint[1] == bay) {
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//存在白名单
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whiteFlag = true;
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break;
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}
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}
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}
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if (whiteFlag) {
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continue;//存在白名单，不执行下列过滤方案
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}
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List<MapNode> list = lists.get(row);
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MapNode mapNode = list.get(bay);
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if (mapType == NavigationMapType.NONE.id) {
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//不过滤任何数据
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} else if (mapType == NavigationMapType.DFX.id) {
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//车辆有货
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//读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
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if (loc.getLocStsFlag().equals("F")
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|| loc.getLocStsFlag().equals("D")
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|| loc.getLocStsFlag().equals("X")
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) {
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mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
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}
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} else if (mapType == NavigationMapType.NORMAL.id || mapType == NavigationMapType.NONE_LOCK.id) {
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//过滤库位状态X
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if (loc.getLocStsFlag().equals("X")) {
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mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
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}
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}
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//更新list
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list.set(bay, mapNode);
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lists.set(row, list);
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}
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//加载车辆坐标到地图中
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if (shuttlePoints != null) {
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for (int[] points : shuttlePoints) {
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int x = points[0];
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int y = points[1];
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List<MapNode> list = lists.get(x);
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MapNode mapNode = list.get(y);
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mapNode.setValue(MapNodeType.CAR.id);//设置为车辆代码66
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//更新list
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list.set(y, mapNode);
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lists.set(x, list);
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}
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}
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return lists;
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}
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}
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