package com.zy.common.utils;
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import com.alibaba.fastjson.JSON;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasMap;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.service.BasMapService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.MapNode;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.MapNodeType;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.ForkLiftSlave;
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import com.zy.core.model.protocol.ForkLiftStaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.ForkLiftThread;
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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.ArrayList;
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import java.util.List;
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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 SlaveProperties slaveProperties;
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@Autowired
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private BasMapService basMapService;
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public int[][] getData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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try {
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BasMap basMap = basMapService.selectLatestMap(lev);
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String originData = basMap.getOriginData();
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//解析json地图数据
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ArrayList arrayList = JSON.parseObject(originData, 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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} catch (Exception e) {
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e.printStackTrace();
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}
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return null;
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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 lev, 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(RedisKeyType.MAP.key + lev);
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if (o == null) {
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return null;
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}
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BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
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return this.getDataFormString(lev, basMap.getData(), 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(Integer lev, 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
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public List<List<MapNode>> getJsonData(Integer lev, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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try {
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BasMap basMap = basMapService.selectLatestMap(lev);
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String originData = basMap.getOriginData();
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//解析json地图数据
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ArrayList arrayList = JSON.parseObject(originData, ArrayList.class);
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//重建数据格式
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List<List<MapNode>> lists = rebuildData(arrayList);
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return lists;
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} catch (Exception e) {
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e.printStackTrace();
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}
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return null;
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}
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public int[][] parseJsonDataArr(List<List<MapNode>> lists) {
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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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/**
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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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//重建数据格式
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List<List<MapNode>> lists = rebuildData(arrayList);
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//载入库位信息
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lists = loadLocMast(mapType, lists, lev, whitePoints);
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//加载车辆
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lists = loadShuttle(lists, shuttlePoints);
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//加载货叉提升机点位
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lists = loadForkLift(lists, mapType, lev);
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//加载白名单节点
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lists = loadWhite(lists, lev, whitePoints);
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return lists;
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}
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//重建数据格式
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public List<List<MapNode>> rebuildData(List arrayList) {
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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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return lists;
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}
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//载入库位信息
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public List<List<MapNode>> loadLocMast(Integer mapType, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
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//过滤数据
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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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try {
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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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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 (locMast.getLocSts().equals("F")
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|| locMast.getLocSts().equals("D")
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|| locMast.getLocSts().equals("X")
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|| locMast.getLocSts().equals("R")
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|| locMast.getLocSts().equals("P")
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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) {
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//过滤库位状态X
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if (locMast.getLocSts().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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}catch (Exception e) {
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e.printStackTrace();
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}
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return lists;
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}
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//加载车辆
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public List<List<MapNode>> loadShuttle(List<List<MapNode>> lists, List<int[]> shuttlePoints) {
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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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//加载白名单节点
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public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
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//加载白名单节点
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if (whitePoints != null) {
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List<List<MapNode>> realMap = getJsonData(lev, -1, null, null);//获取完整地图
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for (int[] points : whitePoints) {
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//获取原始节点数据
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int x = points[0];
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int y = points[1];
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List<MapNode> rows = realMap.get(x);
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MapNode col = rows.get(y);
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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(col.getValue());//恢复原始节点
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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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//加载货叉提升机点位
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public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer mapType, Integer lev) {
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try {
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//加载货叉提升机放货点位数据
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for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
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ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
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if (forkLiftThread == null) {
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continue;
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}
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for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
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if (staProtocol.getLev() != lev) {
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continue;
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}
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int row = Utils.getRow(staProtocol.getLocNo());
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int bay = Utils.getBay(staProtocol.getLocNo());
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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.DFX.id) {
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//车辆有货
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if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) {
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mapNode.setValue(MapNodeType.DISABLE.id);
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}
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} else {
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if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) {
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mapNode.setValue(MapNodeType.CAR.id);
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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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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return lists;
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}
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}
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