package com.zy.common.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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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.LocMastService;
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import com.zy.common.model.MapNode;
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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.core.enums.ShuttleTaskModeType;
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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.Date;
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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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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 int[][] getData() {
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return getData(NavigationMapType.NONE.id, null);//默认读取无过滤的全部地图数据
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}
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public int[][] getData(Integer mapType, List<int[]> whitePoints) {
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try {
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String mapFilename = "map_" + lev + ".json";
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String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//获取文件路径
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File file = new File(fileName);
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StringBuffer stringBuffer = new StringBuffer();
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if (file.isFile() && file.exists()) {
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InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
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BufferedReader br = new BufferedReader(isr);
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String lineTxt = null;
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while ((lineTxt = br.readLine()) != null) {
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stringBuffer.append(lineTxt);
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}
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br.close();
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//解析json地图数据
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ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
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List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints);//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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} else {
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System.out.println("文件不存在!");
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}
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} catch (IOException ioException) {
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ioException.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 mapType, List<int[]> whitePoints) {
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RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
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Object o = redisUtil.get("realtimeBasMap_" + 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(basMap.getData(), mapType, whitePoints);
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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) {
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ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
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List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints);//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 mapType, List<int[]> whitePoints) {
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try {
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String mapFilename = "map_" + lev + ".json";
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String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//获取文件路径
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File file = new File(fileName);
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StringBuffer stringBuffer = new StringBuffer();
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if (file.isFile() && file.exists()) {
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InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
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BufferedReader br = new BufferedReader(isr);
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String lineTxt = null;
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while ((lineTxt = br.readLine()) != null) {
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stringBuffer.append(lineTxt);
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}
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br.close();
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//解析json地图数据
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ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
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List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints);//过滤地图数据
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return lists;
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} else {
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System.out.println("文件不存在!");
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}
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} catch (IOException ioException) {
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ioException.printStackTrace();
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}
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return null;
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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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* @param whitePoints 白名单节点，不需要被过滤
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*/
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public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints) {
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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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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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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") || locMast.getLocSts().equals("D") || locMast.getLocSts().equals("X")) {
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mapNode.setValue(-1);//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(-1);//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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return lists;
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}
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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 boolean writeNavigateNodeToRedisMap(List<NavigateNode> nodes, boolean lock) {
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RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
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Object o = redisUtil.get("realtimeBasMap_" + lev);
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if (o == null) {
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return false;
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}
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BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
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ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
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List<List<MapNode>> lists = filterMap(NavigationMapType.NONE.id, arrayList, lev, null);//获取全部地图数据
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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(-999);//禁用库位
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}else {
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if (node.getX() == 11 || node.getX() == 19) {
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mapNode.setValue(3);//恢复库位，母轨道
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}else {
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mapNode.setValue(0);//恢复库位，普通库位
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}
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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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basMap.setData(JSON.toJSONString(lists));
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basMap.setUpdateTime(new Date());
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//将数据库地图数据存入redis
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redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
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return true;
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}
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}
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