package com.zy.asrs.wcs.core.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.serializer.SerializerFeature;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.core.type.TypeReference;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
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import com.zy.asrs.wcs.core.model.MapNode;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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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.rcs.constant.DeviceRedisConstant;
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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.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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@Component
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public class NavigateMapUtils {
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@Autowired
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private NavigateMapData navigateMapData;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private ObjectMapper objectMapper;
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/**
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* 写入路径节点数据到redis地图中
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* lock为true 禁用库位，lock为false恢复库位
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*/
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public synchronized boolean writeNavigateNodeToRedisMap(Integer lev, Integer shuttleNo, List<NavigateNode> nodes, boolean lock) {
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try {
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if (nodes.isEmpty()) {
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return true;
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}
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navigateMapData.setLev(lev);
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Object o = redisUtil.get(DeviceRedisConstant.MAP + lev);
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if (o == null) {
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return false;
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}
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//获取小车节点
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List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, lev);
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RedisMapDto redisMap = JSON.parseObject(o.toString(), RedisMapDto.class);
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ArrayList arrayList = JSON.parseObject(redisMap.getData(), ArrayList.class);
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//带小车地图
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List<List<MapNode>> listsHasShuttle = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, shuttlePoints);//获取带小车地图数据
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List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//获取全部地图数据
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//检测节点是否为当前设备
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for (NavigateNode node : nodes) {
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List<MapNode> listX = listsHasShuttle.get(node.getX());
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MapNode mapNode = listX.get(node.getY());
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if (mapNode.getLockDeviceNo() == null) {
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continue;
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}
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if (!mapNode.getLockDeviceNo().equals(shuttleNo)) {
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return false;//路径所属权不是当前设备
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}
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}
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//检测路径是否被锁定
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if (lock) {
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for (NavigateNode node : nodes) {
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List<MapNode> listX = listsHasShuttle.get(node.getX());
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MapNode mapNode = listX.get(node.getY());
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if (mapNode.getValue().equals(MapNodeType.LOCK.id)) {
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return false;//路径被锁定过，禁止再次锁定
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}
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if (mapNode.getValue().equals(MapNodeType.CAR.id)) {
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return false;//路径存在小车，禁止锁定
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}
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}
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}
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//尝试锁定/解锁路径
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navigateMapData.setLev(nodes.get(0).getZ());
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List<List<MapNode>> realMap = navigateMapData.getJsonDataFromDict(-1, null, null);//获取完整地图(包括入库出库)
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for (NavigateNode node : nodes) {
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if (node.getZ() != lev) {
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continue;
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}
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List<MapNode> listX = lists.get(node.getX());
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MapNode mapNode = listX.get(node.getY());
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if (lock) {
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mapNode.setValue(MapNodeType.LOCK.id);//禁用库位
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mapNode.setLockDeviceNo(shuttleNo);
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} else {
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//获取原始节点数据
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List<MapNode> rows = realMap.get(node.getX());
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MapNode col = rows.get(node.getY());
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mapNode.setValue(col.getValue());//恢复库位
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mapNode.setLockDeviceNo(null);
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}
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listX.set(node.getY(), mapNode);
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lists.set(node.getX(), listX);
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}
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redisMap.setData(JSON.toJSONString(lists));
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redisMap.setUpdateTime(new Date());
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//将数据库地图数据存入redis
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redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(redisMap, SerializerFeature.DisableCircularReferenceDetect));
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//保存路径锁节点
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saveLockPath(lev, nodes, lock);
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return true;
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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//保存路径锁节点
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public void saveLockPath(Integer lev, List<NavigateNode> nodes, boolean lock) {
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Object o = redisUtil.get(DeviceRedisConstant.LOCK_PATH + lev);
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List<NavigateNode> navigateNodes = new ArrayList<>();
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if (o != null) {
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try {
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navigateNodes = objectMapper.readValue(o.toString(), new TypeReference<List<NavigateNode>>() {});
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} catch (JsonProcessingException e) {
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throw new RuntimeException(e);
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}
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}
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String nodeStr = null;
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if (lock) {
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navigateNodes.addAll(nodes);
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try {
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nodeStr = objectMapper.writeValueAsString(navigateNodes);
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} catch (JsonProcessingException e) {
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throw new RuntimeException(e);
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}
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redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, nodeStr);
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}else {
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List<NavigateNode> tmp = new ArrayList<>();
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for (NavigateNode navigateNode : navigateNodes) {
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boolean flag = true;
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for (NavigateNode node : nodes) {
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if (navigateNode.getX() == node.getX()
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&& navigateNode.getY() == node.getY()
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&& navigateNode.getZ() == node.getZ()) {
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flag = false;
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break;
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}
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}
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if (flag) {
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tmp.add(navigateNode);
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}
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}
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try {
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nodeStr = objectMapper.writeValueAsString(tmp);
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} catch (JsonProcessingException e) {
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throw new RuntimeException(e);
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}
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redisUtil.set(DeviceRedisConstant.LOCK_PATH + lev, nodeStr);
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}
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}
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//获取路径锁节点
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public List<NavigateNode> getLockPath(Integer lev) {
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Object obj = redisUtil.get(DeviceRedisConstant.LOCK_PATH + lev);
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List<NavigateNode> navigateNodes = new ArrayList<>();
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if (obj != null) {
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try {
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navigateNodes = objectMapper.readValue(obj.toString(), new TypeReference<List<NavigateNode>>() {});
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} catch (JsonProcessingException e) {
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throw new RuntimeException(e);
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}
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}
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return navigateNodes;
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}
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}
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