package com.zy.asrs.controller;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.annotations.ManagerAuth;
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import com.core.common.R;
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import com.zy.asrs.entity.AgvLocDetl;
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import com.zy.asrs.entity.AgvLocMast;
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import com.zy.asrs.entity.BasMap;
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import com.zy.asrs.service.AgvBasMapService;
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import com.zy.asrs.service.AgvLocDetlService;
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import com.zy.asrs.service.AgvLocMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.common.web.BaseController;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import java.util.ArrayList;
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import java.util.List;
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@RestController
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@RequestMapping("/agv")
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public class AgvMapController extends BaseController {
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@Autowired
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private AgvLocMastService agvLocMastService;
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@Autowired
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private AgvLocDetlService agvLocDetlService;
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@Autowired
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private AgvBasMapService agvBasMapService;
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@Autowired
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private RedisUtil redisUtil;
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private static final List<String> DISABLE_LOC_NO = new ArrayList<String>() {{
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// add("0200101");
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// add("0300101");
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// add("0400101");
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// add("0500101");
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// add("0600101");
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// add("0700101");
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// add("0800101");
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// add("0900101");
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// add("1000101");
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// add("1100101");
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// add("1200101");
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}};
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@GetMapping("/map/getData/{floor}/{lev}/auth")
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@ManagerAuth
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public String getMapData(@PathVariable("floor") Integer floor, @PathVariable("lev") Integer lev) {
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//to do
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// floor = 2;
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BasMap basMap = agvBasMapService.selectLatestMap(lev, floor);
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//解析json地图数据
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List<ArrayList> arrayLists = JSON.parseArray(basMap.getData(), ArrayList.class);
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//获取当前楼层库位数据
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List<AgvLocMast> locMasts = agvLocMastService.selectLocByLevAndFloor(lev, floor);
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if (floor == 1 && lev == 2) {
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List<AgvLocMast> distinctRow = agvLocMastService.selectDistinctLocByLevAndFloor(lev, floor);
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List<Integer> integers = new ArrayList<>();
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int min = 0;
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int i =1;
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for (AgvLocMast locMast : distinctRow) {
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if (min > locMast.getMapRow1()) {
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min = locMast.getMapRow1();
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}
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if (locMast.getRightSide() == 1) {
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integers.add(i);
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}
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i++;
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}
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for (AgvLocMast locMast : locMasts) {
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Integer row = locMast.getMapRow1();
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if (row < 0) {
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row = row - min + 1;
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} else {
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row = row - min;
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}
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Integer bay = locMast.getMapBay1();
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Integer rightSide = locMast.getRightSide();
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int x = bay;
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int y = row;
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y = generateMap4Row(integers, row);
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ArrayList rowData = arrayLists.get(x);
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Object o = rowData.get(y);
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JSONObject jsonObject = JSON.parseObject(o.toString());
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jsonObject.put("value", "0");
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jsonObject.put("locNo", locMast.getLocNo());//设置库位号
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jsonObject.put("locSts", locMast.getLocSts());//库位状态
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//更新list
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rowData.set(y, jsonObject);
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arrayLists.set(x, rowData);
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}
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} else {
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for (AgvLocMast locMast : locMasts) {
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Integer row = locMast.getRow1();
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Integer bay = locMast.getBay1();
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int x = bay;
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int y = row;
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//2楼
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if (floor == 1 && lev == 1) {
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x = generateMap1Bay(bay);
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}
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//2楼
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if (floor == 2) {
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y = generateMap2Row(row);
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//y = generateMap2Bay(bay);
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}
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////3楼
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if (floor == 3) {
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y = generateMap3Row(row);
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// x = generateMap3Bay(bay);
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}
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ArrayList rowData = arrayLists.get(x);
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Object o = rowData.get(y);
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JSONObject jsonObject = JSON.parseObject(o.toString());
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jsonObject.put("value", "0");
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jsonObject.put("locNo", locMast.getLocNo());//设置库位号
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jsonObject.put("locSts", locMast.getLocSts());//库位状态
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//更新list
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rowData.set(y, jsonObject);
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arrayLists.set(x, rowData);
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}
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}
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return JSONObject.toJSONString(arrayLists);
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}
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private Integer generateMap1Bay(int bay) {
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int y = bay;
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Integer[] bayAdd = {1, 3, 5, 7, 9, 11, 13, 15, 17, 19};
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for (int i = 0; i < bayAdd.length; i++) {
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if (bay > bayAdd[i]) {
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y++;
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}
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}
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return y;
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}
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private Integer generateMap4Row(List<Integer> rightSide, int row) {
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int x = row;
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// if (rightSide == 0) {
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// x++;
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// }
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for (int i = 0; i < rightSide.size(); i++) {
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if (row > rightSide.get(i)) {
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x++;
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}
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}
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return x;
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}
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private Integer generateMap2Row(int row) {
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int x = row;
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Integer[] rowAdd = {2, 4, 6, 7, 8, 10, 12, 13, 15, 17, 19, 20, 22, 24};
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for (int i = 0; i < rowAdd.length; i++) {
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if (row > rowAdd[i]) {
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x++;
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}
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}
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if (row > 20) x += 9;
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return x;
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}
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private Integer generateMap2Bay(int bay) {
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int y = bay;
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if (y > 28) {
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y++;
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}
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if (y > 57) {
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y++;
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}
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return y;
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}
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private Integer generateMap3Row(int row) {
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int x = row;
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Integer[] rowAdd = {2, 4, 6, 8, 10, 12, 14, 15, 17, 19, 21, 22, 24, 26, 28, 30, 32};
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for (int i = 0; i < rowAdd.length; i++) {
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if (row >= rowAdd[i]) {
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x++;
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}
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}
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if (row > 8) x += 9;
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return x;
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}
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private Integer generateMap3Bay(int bay) {
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int y = 76 - bay;
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if (bay >= 18) y--;
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if (bay >= 26) y--;
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if (bay >= 50) y--;
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return y;
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}
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@RequestMapping("/map/searchData/auth")
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@ManagerAuth
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public R searchLoc(@RequestParam("lev") Integer lev,
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@RequestParam("locNo") String locNo,
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@RequestParam("orderNo") String orderNo,
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@RequestParam("specs") String specs,
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@RequestParam("matnr") String matnr,
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@RequestParam("maktx") String maktx
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) {
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List<AgvLocDetl> locDetls = agvLocDetlService.searchByLike(orderNo, matnr, maktx, specs, locNo);
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ArrayList<AgvLocDetl> lists = new ArrayList<>();
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for (AgvLocDetl locDetl : locDetls) {//过滤掉不是当前楼层的数据
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int lev1 = Utils.getAgvLev(locDetl.getLocNo());
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if (lev1 == lev) {
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lists.add(locDetl);
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}
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}
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//搜索指定库位号，即使库位为空，也可以返回数据
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AgvLocMast locMast = agvLocMastService.selectById(locNo);
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if (locMast != null) {
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AgvLocDetl locDetl = new AgvLocDetl();
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locDetl.setLocNo(locMast.getLocNo());
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lists.add(locDetl);
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}
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return R.ok().add(lists);
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}
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/*
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@GetMapping("/map/realtime/getData/{lev}/auth")
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@ManagerAuth
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public String getRealtimeMapData(@PathVariable("lev") Integer lev) {
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BasMap basMap = basMapService.selectLatestMap(lev);
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//解析json地图数据
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List<ArrayList> arrayLists = JSON.parseArray(basMap.getData(), ArrayList.class);
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// ArrayList<HashMap<String, Integer>> lineRows = new ArrayList<>();
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// int dataRow = 0;
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// int dataRowCount = 0;
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// for (int i = 1; i < arrayLists.size(); i++) {
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// boolean flag = true;
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// ArrayList rows = arrayLists.get(i);
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// for (int j = 1; j < rows.size() - 1; j++) {
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// Object o = rows.get(j);
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// JSONObject jsonObject = JSON.parseObject(o.toString());
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// int value = Integer.parseInt(jsonObject.get("value").toString());
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// if (value >= 0 && value != 3) {
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// //只有该行中的任一一列有数据，则不需要创建空白行
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// flag = false;
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// }
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// }
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//
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// if (flag) {
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// //空白行需要跳过
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// HashMap<String, Integer> map = new HashMap<>();
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// map.put("start", dataRow);
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// int end = i - 1 - dataRowCount;
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// map.put("end", end);
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// map.put("count", dataRowCount);
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// dataRow = end;
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// dataRowCount++;
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// lineRows.add(map);
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// }
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// }
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//获取当前楼层库位数据
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List<LocMast> locMasts = locMastService.selectLocByLev(lev);
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for (LocMast locMast : locMasts) {
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Integer row = locMast.getRow1();
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Integer bay = locMast.getBay1();
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// for (HashMap<String, Integer> lineRow : lineRows) {
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// if (row > lineRow.get("start") && row <= lineRow.get("end")) {
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// row += lineRow.get("count");
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// break;
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// }
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// }
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ArrayList rowData = arrayLists.get(row);
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Object o = rowData.get(bay);
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JSONObject jsonObject = JSON.parseObject(o.toString());
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if (DISABLE_LOC_NO.contains(locMast.getLocNo())) {
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//禁止库位
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jsonObject.put("value", 10);//将禁用库位进行设置
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}
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jsonObject.put("locNo", locMast.getLocNo());//设置库位号
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jsonObject.put("locSts", locMast.getLocSts());//库位状态
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//更新list
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rowData.set(bay, jsonObject);
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arrayLists.set(row, rowData);
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}
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return JSONObject.toJSONString(arrayLists);
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} */
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// @GetMapping("/map/resetMap/{lev}/auth")
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// @ManagerAuth
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// public R resetMap(@PathVariable("lev") Integer lev) {
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// Object o = redisUtil.get("realtimeBasMap_" + lev);
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// if (o == null) {
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// return R.error();
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// }
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// redisUtil.del("realtimeBasMap_" + lev);
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// basMapService.deleteByLev(lev);
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// return R.ok();
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// }
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}
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