package com.zy.core.thread.impl;
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import com.alibaba.fastjson.JSON;
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import com.core.common.SpringUtils;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.utils.NavigatePositionConvert;
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import com.zy.common.utils.NavigateUtils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.common.utils.ShuttleOperaUtils;
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import com.zy.core.News;
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import com.zy.core.cache.SlaveConnection;
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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.TrafficControlDataModel;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.command.ShuttleRedisCommand;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.thread.ShuttleThread;
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import com.zy.core.thread.TrafficControlThread;
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import com.zy.core.utils.TrafficControlUtils;
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import java.io.IOException;
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import java.util.*;
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import java.util.function.Function;
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public class TrafficControlImplThread implements TrafficControlThread {
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private RedisUtil redisUtil;
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private List<TrafficControlDataModel> applyList = new ArrayList<>();
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private HashMap<Integer,Long> shuttleReportErrorMap = new HashMap<>();
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private HashMap<Integer,Long> pathIdleShuttleMap = new HashMap<>();
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private HashMap<Integer,Long> applyRecordsMap = new HashMap<>();
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private HashMap<String, List<NavigateNode>> taskNodesMap = new HashMap<>();
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private List<TrafficControlDataModel> trafficControlDataList = new ArrayList<>();
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public TrafficControlImplThread(RedisUtil redisUtil) {
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this.redisUtil = redisUtil;
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}
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@Override
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public void run() {
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//从缓存恢复交管信息
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Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_MAP.key);
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if(object != null) {
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trafficControlDataList = (List<TrafficControlDataModel>) object;
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}
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while (true) {
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try {
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if (applyList.isEmpty()) {
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continue;
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}
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TrafficControlDataModel dataModel = applyList.get(0);
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processApply(dataModel);
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applyList.remove(0);
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}catch (Exception e){
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e.printStackTrace();
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}
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}
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}
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public synchronized boolean processApply(TrafficControlDataModel applyData) {
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ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
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if (shuttleOperaUtils == null) {
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return false;
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}
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if (applyData == null) {
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return false;
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}
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if (applyData.getShuttleNo() == null || applyData.getTaskNo() == null || applyData.getNodeList() == null || applyData.getTotalNodeList() == null) {
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return false;
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}
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Integer shuttleNo = applyData.getShuttleNo();
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Integer taskNo = applyData.getTaskNo();
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List<NavigateNode> nodeList = applyData.getNodeList();
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List<NavigateNode> totalNodeList = applyData.getTotalNodeList();
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//更新交管信息
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redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_MAP.key, trafficControlDataList);
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NavigateNode startNode = totalNodeList.get(0);
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List<int[]> shuttlePoints = Utils.getShuttlePoints(shuttleNo, startNode.getZ());
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int[] currentShuttlePoint = Utils.getShuttlePoint(shuttleNo);
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if(currentShuttlePoint == null) {
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return false;
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}
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String currentShuttleLoc = Utils.getLocNo(currentShuttlePoint[0], currentShuttlePoint[1], startNode.getZ());
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List<String> shuttleLocList = new ArrayList<>();
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for (int[] shuttlePoint : shuttlePoints) {
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String locNo = Utils.getLocNo(shuttlePoint[0], shuttlePoint[1], startNode.getZ());
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shuttleLocList.add(locNo);
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}
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//检测车子是否存在管制
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for (int i = 0; i < trafficControlDataList.size(); i++) {
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TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
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if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
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//存在管制
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if(!controlDataModel.getTaskNo().equals(taskNo)) {
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return false;
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}
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for (NavigateNode node : nodeList) {
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String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
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if(shuttleLocList.contains(locNo)) {
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ShuttleThread shuttleThread = Utils.searchShuttle(locNo);
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if(shuttleThread != null) {
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shuttleThread.restartCalcPath();
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}
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}
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}
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// News.info("traffic running {},{}", shuttleNo, taskNo);
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return true;//已经管制允许执行
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}
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return false;
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}
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if (!applyRecordsMap.containsKey(shuttleNo)) {
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applyRecordsMap.put(shuttleNo, System.currentTimeMillis());
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}
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Long applyRecordTime = applyRecordsMap.get(shuttleNo);
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if ((System.currentTimeMillis() - applyRecordTime) > 1000 * 10) {
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shuttleThread.restartCalcPath();
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}
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List<String> totalLocList = new ArrayList<>();
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for (NavigateNode node : totalNodeList) {
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String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
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totalLocList.add(locNo);
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}
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//检测路径是否有小车
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for (String loc : totalLocList) {
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if(shuttleLocList.contains(loc)) {
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ShuttleThread pathShuttleThread = Utils.searchShuttle(loc);
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if (pathShuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = pathShuttleThread.getStatus();
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if(shuttleProtocol == null) {
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return false;
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}
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if (pathShuttleThread.isIdle()) {
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if(pathIdleShuttleMap.containsKey(shuttleProtocol.getShuttleNo())) {
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Long idleTime = pathIdleShuttleMap.get(shuttleProtocol.getShuttleNo());
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if((System.currentTimeMillis() - idleTime) > 1000 * 10) {
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//检测障碍物车
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boolean checkObstacle = shuttleOperaUtils.checkObstacle(shuttleProtocol.getCurrentLocNo(), new ArrayList<Integer>() {{
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add(shuttleNo);
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}});
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pathIdleShuttleMap.remove(shuttleProtocol.getShuttleNo());
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}
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}else {
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pathIdleShuttleMap.put(shuttleProtocol.getShuttleNo(), System.currentTimeMillis());
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}
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}
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return false;//node has shuttle
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}
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}
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//检测节点是否被使用
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for (TrafficControlDataModel controlDataModel : trafficControlDataList) {
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List<NavigateNode> list = controlDataModel.getTotalNodeList();
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for (int i = 0; i < list.size(); i++) {
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NavigateNode node = list.get(i);
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String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
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if (i == 0 && currentShuttleLoc.equals(locNo)) {
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continue;//..todo wait watch problem
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}
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if(totalLocList.contains(locNo)) {
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return false;
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}
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}
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}
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//交管接收
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trafficControlDataList.add(applyData);
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applyRecordsMap.remove(shuttleNo);
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News.info("receipt traffic {},{}", shuttleNo, taskNo);
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return true;
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}
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@Override
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public synchronized boolean applyTrafficControl(List<NavigateNode> totalNodeList, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
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boolean add = true;
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for (TrafficControlDataModel controlDataModel : applyList) {
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if(controlDataModel.getShuttleNo().equals(shuttleNo)) {
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add = false;
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break;
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}
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}
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if (add) {
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TrafficControlDataModel model = new TrafficControlDataModel();
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model.setShuttleNo(shuttleNo);
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model.setTaskNo(taskNo);
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model.setNodeList(nodeList);
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model.setTotalNodeList(totalNodeList);
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applyList.add(model);
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}else {
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return false;
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}
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return true;
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}
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@Override
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public synchronized boolean trafficReport(List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
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//检测车子是否存在管制
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for (int i = 0; i < trafficControlDataList.size(); i++) {
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TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
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if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
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if(controlDataModel.getTaskNo().equals(taskNo)) {
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List<NavigateNode> newTotalNodeList = new ArrayList<>();
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List<NavigateNode> totalNodeList = controlDataModel.getTotalNodeList();
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List<String> reportList = new ArrayList<>();
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for (NavigateNode node : nodeList) {
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reportList.add(Utils.getLocNo(node.getX(), node.getY(), node.getZ()));
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}
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for (NavigateNode node : totalNodeList) {
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String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
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if(reportList.contains(locNo)) {
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continue;
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}
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newTotalNodeList.add(node);
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}
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controlDataModel.setTotalNodeList(newTotalNodeList);
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trafficControlDataList.set(i, controlDataModel);
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shuttleReportErrorMap.remove(shuttleNo);
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return true;
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}
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}
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}
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return false;
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}
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@Override
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public boolean trafficReportError(Integer shuttleNo, Integer taskNo) {
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return false;
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}
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if(shuttleReportErrorMap.containsKey(shuttleNo)) {
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Long errorTime = shuttleReportErrorMap.get(shuttleNo);
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if((System.currentTimeMillis() - errorTime) > 1000 * 10) {
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shuttleReportErrorMap.remove(shuttleNo);
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shuttleThread.restartCalcPath();
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}
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}else {
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shuttleReportErrorMap.put(shuttleNo, System.currentTimeMillis());
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}
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return true;
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}
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@Override
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public synchronized boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo) {
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//检测车子是否存在管制
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for (int i = 0; i < trafficControlDataList.size(); i++) {
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TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
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if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
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if(controlDataModel.getTaskNo().equals(taskNo)) {
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trafficControlDataList.remove(i);//取消管制
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return true;
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}
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}
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}
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return false;
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}
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@Override
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public boolean forceCancelTrafficControl(Integer shuttleNo) {
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//检测车子是否存在管制
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for (int i = 0; i < trafficControlDataList.size(); i++) {
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TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
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if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
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trafficControlDataList.remove(i);//取消管制
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return true;
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}
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}
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return false;
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}
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@Override
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public TrafficControlDataModel queryTrafficControl(Integer shuttleNo, Integer taskNo) {
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//检测车子是否存在管制
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for (int i = 0; i < trafficControlDataList.size(); i++) {
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TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
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if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
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if(controlDataModel.getTaskNo().equals(taskNo)) {
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return controlDataModel;
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}
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}
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}
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return null;
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}
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@Override
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public TrafficControlDataModel queryTrafficControl(Integer shuttleNo) {
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//检测车子是否存在管制
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for (int i = 0; i < trafficControlDataList.size(); i++) {
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TrafficControlDataModel controlDataModel = trafficControlDataList.get(i);
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if(shuttleNo.equals(controlDataModel.getShuttleNo())) {
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return controlDataModel;
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}
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}
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return null;
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}
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@Override
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public List<TrafficControlDataModel> getAllTrafficControl() {
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return trafficControlDataList;
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}
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@Override
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public boolean connect() {
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return false;
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}
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@Override
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public void close() {
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}
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}
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