package com.zy.asrs.utils;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Arith;
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import com.core.common.Cools;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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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.core.cache.SlaveConnection;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.ShuttleThread;
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import java.text.DecimalFormat;
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import java.util.ArrayList;
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import java.util.List;
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public class Utils {
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private static final DecimalFormat fmt = new DecimalFormat("##0.00");
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public static float scale(Float f) {
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if (f == null || f == 0f || Float.isNaN(f)) {
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return 0f;
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}
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return (float) Arith.multiplys(2, f, 1);
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}
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public static String zerofill(String msg, Integer count) {
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if (msg.length() == count) {
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return msg;
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} else if (msg.length() > count) {
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return msg.substring(0, 16);
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} else {
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StringBuilder msgBuilder = new StringBuilder(msg);
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for (int i = 0; i < count - msg.length(); i++) {
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msgBuilder.insert(0, "0");
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}
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return msgBuilder.toString();
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}
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}
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/**
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* 通过库位号获取 排
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*/
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public static int getRow(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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return Integer.parseInt(locNo.substring(0, 2));
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}
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throw new RuntimeException("库位解析异常");
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}
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/**
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* 通过库位号获取 列
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*/
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public static int getBay(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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return Integer.parseInt(locNo.substring(2, 5));
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}
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throw new RuntimeException("库位解析异常");
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}
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/**
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* 通过库位号获取 层
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*/
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public static int getLev(String locNo) {
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if (!Cools.isEmpty(locNo)) {
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return Integer.parseInt(locNo.substring(5, 7));
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}
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throw new RuntimeException("库位解析异常");
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}
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public static String getLocNo(Number row, Number bay, Number lev) {
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return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
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}
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public static List<String> getGroupLoc(String locNo) {
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return null;
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}
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//获取除白名单外的指定楼层全部穿梭车xy坐标点
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public static int[] getShuttlePoint(Integer shuttleNo) {
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//获取穿梭车所在节点位置
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return null;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return null;
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}
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String currentLocNo = shuttleProtocol.getCurrentLocNo();
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if (currentLocNo == null) {
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return null;
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}
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if (shuttleProtocol.getCurrentLocNo() == null) {
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return null;
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}
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return NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());
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}
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//获取除白名单外的指定楼层全部穿梭车xy坐标点
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public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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ArrayList<int[]> list = new ArrayList<>();
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for (ShuttleSlave slave : slaveProperties.getShuttle()) {
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if (slave.getId().intValue() == whiteShuttle) {
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continue;//跳过白名单
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}
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//获取穿梭车所在节点位置
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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continue;
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}
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String currentLocNo = shuttleProtocol.getCurrentLocNo();
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if (currentLocNo == null) {
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continue;
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}
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if (lev != Utils.getLev(currentLocNo)) {
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continue;//楼层不同
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}
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if (shuttleProtocol.getCurrentLocNo() == null) {
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continue;
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}
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int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
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list.add(xyPosition);
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}
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return list;
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}
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//检测楼层是否有可用穿梭车
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public static boolean checkLevHasShuttle(Integer lev) {
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
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for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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continue;
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}
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String currentLocNo = shuttleProtocol.getCurrentLocNo();
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if (currentLocNo == null) {
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continue;
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}
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//小车正在充电
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if (shuttleThread.isCharging()) {
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continue;
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}
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//小车有充电任务
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WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
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if (chargeWorking != null) {//已有充电任务
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continue;
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}
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//小车处于故障状态
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if (shuttleThread.isFault()) {
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continue;
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}
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if (lev == Utils.getLev(currentLocNo)) {
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return true;//指定楼层有穿梭车
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}
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}
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return false;//指定楼层没有穿梭车
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}
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//检测库位组是否存在小车，存在返回小车号。
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public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
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if (groupLoc == null) {
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return null;
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}
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if (groupLoc.isEmpty()) {
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return null;
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}
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SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
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if (slaveProperties == null) {
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return null;
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}
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for (String loc : groupLoc) {
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for (ShuttleSlave slave : slaveProperties.getShuttle()) {
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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continue;
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}
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if (shuttleProtocol.getCurrentLocNo() == null) {
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continue;
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}
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if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
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//存在小车
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return slave.getId();
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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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//获取小车待机位
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public static String getShuttleStandbyLocNo(String locNo) {
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LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
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NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
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List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
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.eq("loc_type", "standby")
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.eq("lev1", Utils.getLev(locNo)));
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if (locMasts.isEmpty()) {
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return null;
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}
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Integer recentDistance = Integer.MAX_VALUE;
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String recentLocNo = null;
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for (LocMast locMast : locMasts) {
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//待机位到目标点距离
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List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(0, Utils.getLev(locNo)), null);//搜索空闲穿梭车，使用正常通道地图
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if (currentShuttlePath == null) {
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continue;
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}
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Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
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if (currentAllDistance < recentDistance) {
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recentDistance = currentAllDistance;
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recentLocNo = locMast.getLocNo();
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}
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}
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return recentLocNo;
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}
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}
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