From baed29d667be08051c36c31997117a1ba292d5bc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 10 五月 2023 16:51:01 +0800
Subject: [PATCH] redis实时地图
---
src/main/resources/map_4.json | 1
src/main/resources/map_1.json | 1
src/main/java/com/zy/asrs/task/RealtimeBasMapScheduler.java | 49 ++++
src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java | 6
src/main/resources/mapper/BasMapMapper.xml | 23 ++
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 81 ++++++-
src/main/java/com/zy/core/thread/ShuttleThread.java | 27 ++
src/main/webapp/views/console.html | 43 ++-
src/main/java/com/zy/asrs/service/impl/BasMapServiceImpl.java | 16 +
src/main/java/com/zy/common/utils/NavigateUtils.java | 19 +
src/main/resources/map_2.json | 1
src/main/java/com/zy/asrs/mapper/BasMapMapper.java | 14 +
src/main/java/com/zy/asrs/controller/ConsoleController.java | 25 ++
src/main/java/com/zy/common/model/MapNode.java | 23 ++
src/main/java/com/zy/asrs/entity/BasMap.java | 95 ++++++++
src/main/java/com/zy/Boot.java | 2
src/main/java/com/zy/core/MainProcess.java | 4
src/main/java/com/zy/common/utils/NavigateMapData.java | 174 ++++++++++++---
src/main/resources/map_3.json | 1
src/main/java/com/zy/asrs/service/BasMapService.java | 10
src/main/java/com/zy/common/utils/NavigateSolution.java | 5
21 files changed, 539 insertions(+), 81 deletions(-)
diff --git a/src/main/java/com/zy/Boot.java b/src/main/java/com/zy/Boot.java
index f25a356..a616580 100644
--- a/src/main/java/com/zy/Boot.java
+++ b/src/main/java/com/zy/Boot.java
@@ -5,8 +5,10 @@
import org.springframework.boot.autoconfigure.SpringBootApplication;
import org.springframework.boot.web.servlet.support.SpringBootServletInitializer;
import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.scheduling.annotation.EnableScheduling;
@EnableAsync
+@EnableScheduling
@SpringBootApplication
public class Boot extends SpringBootServletInitializer {
diff --git a/src/main/java/com/zy/asrs/controller/ConsoleController.java b/src/main/java/com/zy/asrs/controller/ConsoleController.java
index c7f10e9..924f899 100644
--- a/src/main/java/com/zy/asrs/controller/ConsoleController.java
+++ b/src/main/java/com/zy/asrs/controller/ConsoleController.java
@@ -10,11 +10,15 @@
import com.zy.asrs.domain.param.SystemSwitchParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasDevp;
+import com.zy.asrs.entity.BasMap;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.LocMastMapper;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.CodeRes;
+import com.zy.common.model.MapNode;
+import com.zy.common.utils.NavigateMapData;
+import com.zy.common.utils.RedisUtil;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.Slave;
@@ -54,6 +58,8 @@
private BasDevpService basDevpService;
@Autowired
private LocMastMapper locMastMapper;
+ @Autowired
+ private RedisUtil redisUtil;
@PostMapping("/system/running/status")
@ManagerAuth(memo = "绯荤粺杩愯鐘舵��")
@@ -292,4 +298,23 @@
return R.ok().add(JSON.toJSONString(new ArrayList<>(OutputQueue.BARCODE)));
}
+ /**
+ * 鑾峰彇鍦板浘鏁版嵁
+ */
+ @GetMapping("/map/{lev}/auth")
+ @ManagerAuth
+ public R getMapFromRedis(@PathVariable Integer lev) {
+ Object data = redisUtil.get("realtimeBasMap_" + lev);
+ if (data == null) {
+ return R.error();
+ }
+
+ BasMap basMap = JSON.parseObject(data.toString(), BasMap.class);
+ //瑙ｆ瀽json鍦板浘鏁版嵁
+ ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
+ NavigateMapData navigateMapData = new NavigateMapData(lev);
+ List<List<MapNode>> lists = navigateMapData.filterMap(-1, arrayList);//杩囨护鍦板浘鏁版嵁
+ return R.ok().add(lists);
+ }
+
}
diff --git a/src/main/java/com/zy/asrs/entity/BasMap.java b/src/main/java/com/zy/asrs/entity/BasMap.java
new file mode 100644
index 0000000..d3debed
--- /dev/null
+++ b/src/main/java/com/zy/asrs/entity/BasMap.java
@@ -0,0 +1,95 @@
+package com.zy.asrs.entity;
+
+import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
+import com.baomidou.mybatisplus.enums.IdType;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import com.baomidou.mybatisplus.annotations.TableField;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.annotations.TableName;
+import java.io.Serializable;
+
+@Data
+@TableName("asr_bas_map")
+public class BasMap implements Serializable {
+
+ private static final long serialVersionUID = 1L;
+
+ @ApiModelProperty(value= "")
+ @TableId(value = "id", type = IdType.AUTO)
+ private Integer id;
+
+ /**
+ * 鍦板浘鏁版嵁
+ */
+ @ApiModelProperty(value= "鍦板浘鏁版嵁")
+ private String data;
+
+ /**
+ * 鍒涘缓鏃堕棿
+ */
+ @ApiModelProperty(value= "鍒涘缓鏃堕棿")
+ @TableField("create_time")
+ @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
+ private Date createTime;
+
+ /**
+ * 鏇存柊鏃堕棿
+ */
+ @ApiModelProperty(value= "鏇存柊鏃堕棿")
+ @TableField("update_time")
+ @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
+ private Date updateTime;
+
+ /**
+ * 鏇存柊鍓嶅湴鍥炬暟鎹�
+ */
+ @ApiModelProperty(value= "鏇存柊鍓嶅湴鍥炬暟鎹�")
+ @TableField("last_data")
+ private String lastData;
+
+ /**
+ * 妤煎眰
+ */
+ @ApiModelProperty(value= "妤煎眰")
+ @TableField("lev")
+ private Integer lev;
+
+ public BasMap() {}
+
+ public BasMap(String data,Date createTime,Date updateTime,String lastData,Integer lev) {
+ this.data = data;
+ this.createTime = createTime;
+ this.updateTime = updateTime;
+ this.lastData = lastData;
+ this.lev = lev;
+ }
+
+// BasMap basMap = new BasMap(
+// null, // 鍦板浘鏁版嵁
+// null, // 鍒涘缓鏃堕棿
+// null, // 鏇存柊鏃堕棿
+// null // 鏇存柊鍓嶅湴鍥炬暟鎹�
+// );
+
+ public String getCreateTime$(){
+ if (Cools.isEmpty(this.createTime)){
+ return "";
+ }
+ return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.createTime);
+ }
+
+ public String getUpdateTime$(){
+ if (Cools.isEmpty(this.updateTime)){
+ return "";
+ }
+ return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
+ }
+
+
+}
diff --git a/src/main/java/com/zy/asrs/mapper/BasMapMapper.java b/src/main/java/com/zy/asrs/mapper/BasMapMapper.java
new file mode 100644
index 0000000..a44f8f8
--- /dev/null
+++ b/src/main/java/com/zy/asrs/mapper/BasMapMapper.java
@@ -0,0 +1,14 @@
+package com.zy.asrs.mapper;
+
+import com.zy.asrs.entity.BasMap;
+import com.baomidou.mybatisplus.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.springframework.stereotype.Repository;
+
+@Mapper
+@Repository
+public interface BasMapMapper extends BaseMapper<BasMap> {
+
+ BasMap selectLatestMap(Integer lev);//鑾峰彇鏈�鏂板湴鍥炬暟鎹�
+
+}
diff --git a/src/main/java/com/zy/asrs/service/BasMapService.java b/src/main/java/com/zy/asrs/service/BasMapService.java
new file mode 100644
index 0000000..838b546
--- /dev/null
+++ b/src/main/java/com/zy/asrs/service/BasMapService.java
@@ -0,0 +1,10 @@
+package com.zy.asrs.service;
+
+import com.zy.asrs.entity.BasMap;
+import com.baomidou.mybatisplus.service.IService;
+
+public interface BasMapService extends IService<BasMap> {
+
+ BasMap selectLatestMap(Integer lev);//鑾峰彇鏈�鏂板湴鍥炬暟鎹�
+
+}
diff --git a/src/main/java/com/zy/asrs/service/impl/BasMapServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/BasMapServiceImpl.java
new file mode 100644
index 0000000..c68971e
--- /dev/null
+++ b/src/main/java/com/zy/asrs/service/impl/BasMapServiceImpl.java
@@ -0,0 +1,16 @@
+package com.zy.asrs.service.impl;
+
+import com.zy.asrs.mapper.BasMapMapper;
+import com.zy.asrs.entity.BasMap;
+import com.zy.asrs.service.BasMapService;
+import com.baomidou.mybatisplus.service.impl.ServiceImpl;
+import org.springframework.stereotype.Service;
+
+@Service("basMapService")
+public class BasMapServiceImpl extends ServiceImpl<BasMapMapper, BasMap> implements BasMapService {
+
+ @Override
+ public BasMap selectLatestMap(Integer lev) {
+ return this.baseMapper.selectLatestMap(lev);
+ }
+}
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 21c409f..ca20843 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -84,6 +84,8 @@
@Autowired
private WrkChargeMapper wrkChargeMapper;
@Autowired
+ private BasMapService basMapService;
+ @Autowired
private ErpService erpService;
@Autowired
private OrderMapper orderMapper;
@@ -544,10 +546,35 @@
}
/**
- * 鑾峰彇/鏇存柊瀹炴椂鍦板浘
+ * 鍒濆鍖栧疄鏃跺湴鍥�
*/
- public synchronized void refreshMap() {
+ public synchronized void initRealtimeBasMap() {
+ for (int i = 1; i <= 4; i++) {//鎬诲叡鍥涘眰妤�
+ Object data = redisUtil.get("realtimeBasMap_" + i);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖锛屼粠鏁版嵁搴撲腑鑾峰彇
+ BasMap basMap = basMapService.selectLatestMap(i);
+ if (basMap == null) {
+ //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
+ //杞藉叆鍦板浘
+ NavigateMapData mapData = new NavigateMapData(i);
+ List<List<MapNode>> lists = mapData.getJsonData(-1);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+ //瀛樺叆鏁版嵁搴�
+ basMap = new BasMap();
+ basMap.setData(JSON.toJSONString(lists));
+ basMap.setCreateTime(new Date());
+ basMap.setUpdateTime(new Date());
+ basMap.setLev(i);
+
+ if (!basMapService.insert(basMap)) {
+ log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
+ }
+ }
+
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
+ }
+ }
}
/**
@@ -681,7 +708,7 @@
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
//鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand);
if (wrkMast.getWrkSts() == 8) {
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
@@ -705,7 +732,7 @@
//涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
@@ -729,13 +756,16 @@
}
//鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥�
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand) {
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
List<ShuttleCommand> commands = new ArrayList<>();
if (calc == null) {
return null;
}
+
+ List<NavigateNode> allNode = new ArrayList<>();
+ allNode.addAll(calc);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -771,17 +801,26 @@
command.setCommandEnd((short) 1);
commands.add(command);
}
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
return commands;
}
//鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand) {
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘
List<ShuttleCommand> commands = new ArrayList<>();
if (calc == null) {
return null;
}
+
+ List<NavigateNode> allNode = new ArrayList<>();
+ allNode.addAll(calc);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -826,10 +865,12 @@
commands.add(command);
//璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
- List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
+ List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
if (calc2 == null) {
return null;
}
+
+ allNode.addAll(calc2);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
@@ -871,6 +912,11 @@
command.setPalletLift((short) 2);
command.setCommandEnd((short) 1);
commands.add(command);
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
return commands;
}
@@ -955,7 +1001,7 @@
if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
@@ -966,7 +1012,7 @@
//涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
//灏忚溅鍒版彁鍗囨満鍙ｆ寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
assignCommand.setLocNo(liftLocNo);
@@ -974,7 +1020,7 @@
wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
}
} else if (wrkMast.getWrkSts() == 25) {
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
ShuttleCommand moveCommand = new ShuttleCommand();
@@ -2211,11 +2257,14 @@
if (currentLev == chargeLocNoLev) {
//鍚屼竴灞傛棤闇�缁忚繃鎻愬崌鏈�
//鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
//鑾峰彇灏忚溅鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
//杩涜鍏呯數涓�
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
assignCommand.setTaskMode((short) 9);//鍏呯數
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
@@ -2240,12 +2289,14 @@
}else {
//涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
assignCommand.setTaskMode((short) 9);//鍏呯數
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
diff --git a/src/main/java/com/zy/asrs/task/RealtimeBasMapScheduler.java b/src/main/java/com/zy/asrs/task/RealtimeBasMapScheduler.java
new file mode 100644
index 0000000..0f99bc2
--- /dev/null
+++ b/src/main/java/com/zy/asrs/task/RealtimeBasMapScheduler.java
@@ -0,0 +1,49 @@
+package com.zy.asrs.task;
+
+import com.alibaba.fastjson.JSON;
+import com.zy.asrs.entity.BasMap;
+import com.zy.asrs.service.BasMapService;
+import com.zy.common.utils.RedisUtil;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.Date;
+
+@Component
+@Slf4j
+public class RealtimeBasMapScheduler {
+
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private BasMapService basMapService;
+
+ /**
+ * 姣忓垎閽熶粠redis涓洿鏂板湴鍥炬暟鎹埌鏁版嵁搴撲腑
+ */
+ @Scheduled(cron = "1 * * * * ? ")
+ private void execute(){
+ for (int i = 1; i <= 4; i++) {//鎬诲叡鍥涘眰妤�
+ Object data = redisUtil.get("realtimeBasMap_" + i);
+ if (data == null) {
+ continue;
+ }
+
+ BasMap redisMap = JSON.parseObject(data.toString(), BasMap.class);
+
+ BasMap basMap = basMapService.selectLatestMap(i);
+ if (basMap == null) {
+ continue;
+ }
+
+ basMap.setLastData(basMap.getData());
+ basMap.setData(redisMap.getData());
+ basMap.setUpdateTime(new Date());
+
+ basMapService.updateById(basMap);//鏇存柊
+ }
+ }
+
+}
diff --git a/src/main/java/com/zy/common/model/MapNode.java b/src/main/java/com/zy/common/model/MapNode.java
new file mode 100644
index 0000000..6914713
--- /dev/null
+++ b/src/main/java/com/zy/common/model/MapNode.java
@@ -0,0 +1,23 @@
+package com.zy.common.model;
+
+import lombok.Data;
+
+/**
+ * 鍦板浘鏁版嵁鑺傜偣
+ */
+@Data
+public class MapNode {
+
+ private Integer value;
+
+ private String data;
+
+ private Integer top;
+
+ private Integer bottom;
+
+ private Integer left;
+
+ private Integer right;
+
+}
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 38e2a3f..a8e7d43 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -1,16 +1,32 @@
package com.zy.common.utils;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasMap;
+import com.zy.common.model.MapNode;
+import com.zy.common.model.NavigateNode;
import com.zy.core.enums.ShuttleTaskModeType;
+import org.springframework.stereotype.Component;
import java.io.*;
import java.util.ArrayList;
+import java.util.List;
/**
* A*绠楁硶鍦板浘鑾峰彇绫�
*/
+@Component
public class NavigateMapData {
+
+ private Integer lev;//鍦板浘妤煎眰
+
+ public NavigateMapData() {
+ this.lev = 1;
+ }
+
+ public NavigateMapData(Integer lev) {
+ this.lev = lev;
+ }
public int[][] getData() {
return getData(ShuttleTaskModeType.PAK_IN.id);
@@ -18,14 +34,7 @@
public int[][] getData(Integer mapType) {
try {
- String mapFilename = "";
- if (mapType == ShuttleTaskModeType.PAK_IN.id) {
- //鍏ュ簱鍦板浘
- mapFilename = "mapIn.json";
- }else {
- //鍑哄簱鍦板浘
- mapFilename = "mapOut.json";
- }
+ String mapFilename = "map_" + lev + ".json";
String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
File file = new File(fileName);
@@ -41,16 +50,15 @@
//瑙ｆ瀽json鍦板浘鏁版嵁
ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
- int[][] map = new int[arrayList.size()][];
+ List<List<MapNode>> lists = filterMap(mapType, arrayList);//杩囨护鍦板浘鏁版嵁
+ int[][] map = new int[lists.size()][];
int j = 0;
- for (Object obj : arrayList) {
- ArrayList list = JSON.parseObject(obj.toString(), ArrayList.class);
+ for (List<MapNode> list : lists) {
int[] tmp = new int[list.size()];
int i = 0;
- for (Object o : list) {
- JSONObject jsonObject = JSON.parseObject(o.toString());
+ for (MapNode mapNode : list) {
//灏嗘暟鎹坊鍔犺繘浜岀淮鏁扮粍
- tmp[i++] = Integer.parseInt(jsonObject.get("value").toString());
+ tmp[i++] = mapNode.getValue();
}
//鏁版嵁娣诲姞杩涗竴缁存暟缁�
map[j++] = tmp;
@@ -66,17 +74,46 @@
return null;
}
- //鑾峰彇JSON鏍煎紡鏁版嵁
- public ArrayList<ArrayList<JSONObject>> getJsonData(Integer mapType) {
- try {
- String mapFilename = "";
- if (mapType == ShuttleTaskModeType.PAK_IN.id) {
- //鍏ュ簱鍦板浘
- mapFilename = "mapIn.json";
- }else {
- //鍑哄簱鍦板浘
- mapFilename = "mapOut.json";
+ /**
+ * 灏濊瘯浠巖edis鑾峰彇鏁版嵁
+ */
+ public int[][] getDataFromRedis(Integer mapType) {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ Object o = redisUtil.get("realtimeBasMap_" + lev);
+ if (o == null) {
+ return null;
+ }
+
+ BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
+ return this.getDataFormString(basMap.getData(), mapType);
+ }
+
+ /**
+ * 浠嶭ist鏁版嵁涓幏鍙栧湴鍥�
+ */
+ public int[][] getDataFormString(String data, Integer mapType) {
+ ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
+ List<List<MapNode>> lists = filterMap(mapType, arrayList);//杩囨护鍦板浘鏁版嵁
+ int[][] map = new int[lists.size()][];
+ int j = 0;
+ for (List<MapNode> list : lists) {
+ int[] tmp = new int[list.size()];
+ int i = 0;
+ for (MapNode mapNode : list) {
+ //灏嗘暟鎹坊鍔犺繘浜岀淮鏁扮粍
+ tmp[i++] = mapNode.getValue();
}
+ //鏁版嵁娣诲姞杩涗竴缁存暟缁�
+ map[j++] = tmp;
+ }
+
+ return map;
+ }
+
+ //鑾峰彇JSON鏍煎紡鏁版嵁
+ public List<List<MapNode>> getJsonData(Integer mapType) {
+ try {
+ String mapFilename = "map_" + lev + ".json";
String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
File file = new File(fileName);
@@ -90,22 +127,11 @@
}
br.close();
- //杩斿洖鐨勭粨鏋滈泦
- ArrayList<ArrayList<JSONObject>> returnLists = new ArrayList<>();
-
//瑙ｆ瀽json鍦板浘鏁版嵁
ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
- for (Object obj : arrayList) {
- ArrayList list = JSON.parseObject(obj.toString(), ArrayList.class);
- ArrayList<JSONObject> maps = new ArrayList<>();
- for (Object o : list) {
- JSONObject jsonObject = JSON.parseObject(o.toString());
- maps.add(jsonObject);
- }
- returnLists.add(maps);
- }
+ List<List<MapNode>> lists = filterMap(mapType, arrayList);//杩囨护鍦板浘鏁版嵁
- return returnLists;
+ return lists;
} else {
System.out.println("鏂囦欢涓嶅瓨鍦�!");
}
@@ -115,4 +141,76 @@
return null;
}
+ /**
+ * 杩囨护鍦板浘鏁版嵁锛屽叆搴撴搷浣滃垯杩囨护鍑哄簱鐨勭鐢ㄥ簱浣嶏紝鍑哄簱鎿嶄綔鍒欒繃婊ゅ叆搴撶殑绂佺敤搴撲綅
+ */
+ public List<List<MapNode>> filterMap(Integer mapType,List arrayList) {
+ List<List<MapNode>> lists = new ArrayList<>();
+ for (int i = 0; i < arrayList.size(); i++) {
+ Object obj = arrayList.get(i);
+ List<MapNode> list = JSON.parseArray(obj.toString(), MapNode.class);
+ for (int j = 0; j < list.size(); j++) {
+ MapNode mapNode = list.get(j);
+ if (mapType == ShuttleTaskModeType.PAK_IN.id) {
+ //鍏ュ簱鍦板浘
+ if (mapNode.getData().equals("IN_X")) {
+ //绂佹浣跨敤鐨勫簱浣嶏紝璁剧疆涓�-1
+ mapNode.setValue(-1);
+ }
+ }else if(mapType == ShuttleTaskModeType.PAK_OUT.id){
+ //鍑哄簱鍦板浘
+ if (mapNode.getData().equals("OUT_X")) {
+ //绂佹浣跨敤鐨勫簱浣嶏紝璁剧疆涓�-1
+ mapNode.setValue(-1);
+ }
+ }
+ list.set(j, mapNode);
+ }
+ lists.add(list);
+ }
+
+ return lists;
+ }
+
+ /**
+ * 鍐欏叆璺緞鑺傜偣鏁版嵁鍒皉edis鍦板浘涓�
+ * lock涓簍rue 绂佺敤搴撲綅锛宭ock涓篺alse鎭㈠搴撲綅
+ */
+ public boolean writeNavigateNodeToRedisMap(List<NavigateNode> nodes, boolean lock) {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ Object o = redisUtil.get("realtimeBasMap_" + lev);
+ if (o == null) {
+ return false;
+ }
+
+ BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
+ ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
+ List<List<MapNode>> lists = filterMap(-1, arrayList);//鑾峰彇鍏ㄩ儴鍦板浘鏁版嵁
+
+ for (NavigateNode node : nodes) {
+ if (node.getZ() != lev) {
+ continue;
+ }
+
+ List<MapNode> listX = lists.get(node.getX());
+ MapNode mapNode = listX.get(node.getY());
+ if (lock) {
+ mapNode.setValue(-999);//绂佺敤搴撲綅
+ }else {
+ if (node.getX() == 11 || node.getX() == 19) {
+ mapNode.setValue(3);//鎭㈠搴撲綅锛屾瘝杞ㄩ亾
+ }else {
+ mapNode.setValue(0);//鎭㈠搴撲綅锛屾櫘閫氬簱浣�
+ }
+ }
+
+ listX.set(node.getY(), mapNode);
+ lists.set(node.getX(), listX);
+ }
+ basMap.setData(JSON.toJSONString(lists));
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
+ return true;
+ }
+
}
diff --git a/src/main/java/com/zy/common/utils/NavigateSolution.java b/src/main/java/com/zy/common/utils/NavigateSolution.java
index 8e93bd1..7be6f7a 100644
--- a/src/main/java/com/zy/common/utils/NavigateSolution.java
+++ b/src/main/java/com/zy/common/utils/NavigateSolution.java
@@ -24,7 +24,10 @@
public NavigateSolution(Integer mapType) {
//杞藉叆鍦板浘
NavigateMapData mapData = new NavigateMapData();
- int[][] data = mapData.getData(mapType);
+ int[][] data = mapData.getDataFromRedis(mapType);
+ if (data == null) {
+ data = mapData.getData(mapType);
+ }
this.map = data;
}
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index ea1a70e..306a049 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -1,7 +1,7 @@
package com.zy.common.utils;
-import com.alibaba.fastjson.JSONObject;
import com.zy.asrs.utils.Utils;
+import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.core.enums.ShuttleTaskModeType;
@@ -163,11 +163,20 @@
//鑾峰彇浠巟鐐瑰埌涓嬩竴鐐圭殑琛岃蛋璺濈
public static Integer getXToNextDistance(NavigateNode xNode) {
NavigateMapData mapData = new NavigateMapData();
- ArrayList<ArrayList<JSONObject>> lists = mapData.getJsonData(1);
+ List<List<MapNode>> lists = mapData.getJsonData(1);
if (lists != null) {
- JSONObject jsonObject = lists.get(xNode.getX()).get(xNode.getY());
- if (jsonObject != null) {
- return Integer.parseInt(jsonObject.getOrDefault(xNode.getDirection(), 0).toString());
+ MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY());
+ if (mapNode != null) {
+ switch (xNode.getDirection()) {
+ case "top":
+ return mapNode.getTop();
+ case "bottom":
+ return mapNode.getBottom();
+ case "left":
+ return mapNode.getLeft();
+ case "right":
+ return mapNode.getRight();
+ }
}
return 0;
}
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index b66573b..536cad9 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -51,8 +51,8 @@
// 闂撮殧
Thread.sleep(500);
- //瀹炴椂鏇存柊鍦板浘
- mainService.refreshMap();
+ //鍒濆鍖栧疄鏃跺湴鍥�
+ mainService.initRealtimeBasMap();
//浠巖edis涓噸鍚换鍔�
mainService.restartTaskFromRedis();
// 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
diff --git a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
index 71ea49d..ce8a9e4 100644
--- a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
+++ b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
@@ -1,5 +1,6 @@
package com.zy.core.model.command;
+import com.zy.common.model.NavigateNode;
import lombok.Data;
import java.util.ArrayList;
@@ -58,4 +59,9 @@
*/
private Boolean charge = false;
+ /**
+ * 褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ */
+ private List<NavigateNode> nodes;
+
}
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index b743dcc..2a0f24a 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -16,11 +16,9 @@
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
-import com.zy.common.utils.CommonUtils;
-import com.zy.common.utils.NavigatePositionConvert;
-import com.zy.common.utils.NavigateUtils;
-import com.zy.common.utils.RedisUtil;
+import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -394,9 +392,11 @@
//鍒嗛厤浠诲姟
private void assignWork(ShuttleAssignCommand assignCommand) {
if (!assignCommand.getAuto()) {
+ List<NavigateNode> allNode = new ArrayList<>();
List<ShuttleCommand> commands = new ArrayList<>();
ShuttleCommand command = new ShuttleCommand();
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ NavigateMapData navigateMapData;
switch (assignCommand.getTaskMode()) {
case 1://鍏ュ簱
case 2://鍑哄簱
@@ -404,7 +404,12 @@
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
if (firstMastResult != null) {
+ allNode.addAll(firstMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
@@ -466,7 +471,10 @@
//璁＄畻涓偣鍒扮粓鐐硅矾寰�
List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
if (secMastResult != null) {
+ allNode.addAll(secMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
@@ -590,7 +598,12 @@
case 14://绉诲姩鍒扮洰鏍囧簱浣�
LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(result, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
if (result != null) {
+ allNode.addAll(result);//灏嗚妭鐐硅繘琛屼繚瀛�
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
@@ -626,6 +639,7 @@
default:
}
assignCommand.setCommands(commands);
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
}
ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
@@ -799,6 +813,11 @@
}
}
+ String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
+ //瑙ｉ櫎閿佸畾鐨勫簱浣嶈矾寰�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo));
+ navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false);
+
//鍒犻櫎redis
redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
diff --git a/src/main/resources/map_1.json b/src/main/resources/map_1.json
new file mode 100644
index 0000000..6627d34
--- /dev/null
+++ b/src/main/resources/map_1.json
@@ -0,0 +1 @@
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diff --git a/src/main/resources/mapper/BasMapMapper.xml b/src/main/resources/mapper/BasMapMapper.xml
new file mode 100644
index 0000000..c0dd76d
--- /dev/null
+++ b/src/main/resources/mapper/BasMapMapper.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zy.asrs.mapper.BasMapMapper">
+
+ <!-- 閫氱敤鏌ヨ鏄犲皠缁撴灉 -->
+ <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasMap">
+ <id column="id" property="id" />
+ <result column="data" property="data" />
+ <result column="create_time" property="createTime" />
+ <result column="update_time" property="updateTime" />
+ <result column="last_data" property="lastData" />
+ <result column="lev" property="lev" />
+
+ </resultMap>
+
+ <select id="selectLatestMap" resultMap="BaseResultMap">
+ select top 1 *
+ from asr_bas_map
+ where lev = #{lev}
+ order by id desc
+ </select>
+
+</mapper>
diff --git a/src/main/webapp/views/console.html b/src/main/webapp/views/console.html
index 63e10eb..ae228b6 100644
--- a/src/main/webapp/views/console.html
+++ b/src/main/webapp/views/console.html
@@ -522,13 +522,35 @@
//鍒濆鍖栧湴鍥�
function initMap(lev) {
+ getMap(lev)
+
+ $.ajax({
+ url: baseUrl+ "/shuttle/table/shuttle/state",
+ headers: {'token': localStorage.getItem('token')},
+ method: 'POST',
+ success: function (res) {
+ res.data.forEach((item,index) => {
+ if(lev == item.locNoLev){
+ let carBox = '<div class="sxcar" id="sxcar-' + item.shuttleNo + '"></div>'
+ $("#mapDataId").append(carBox)
+ }
+ })
+ }
+ });
+ }
+
+ //鑾峰彇鍦板浘鏁版嵁
+ function getMap(lev) {
//姣嶈建閬撶涓�娆＄储寮曪紝鐢ㄤ簬瀹氫綅灏忚溅
let firstMotherIndex = [0,0];
$("#mapDataId").empty()
$.ajax({
type:"get",
- url: baseUrl + "/static/js/map_" + lev + ".json",
- success: (data) => {
+ // url: baseUrl + "/static/js/map_" + lev + ".json",
+ url: baseUrl + "/console/map/" + lev + "/auth",
+ headers: {'token': localStorage.getItem('token')},
+ success: (res) => {
+ let data = res.data
mapData = data
let content = ""
data.forEach((rowData,index) => {
@@ -540,6 +562,9 @@
if(!(idx == 0 || rowData.length - 1 == idx)){
let col;
switch (colData.value){
+ case -999:
+ col = '<button class="item" style="background:#f83333;color: #fff;">' + idx + '</button>';
+ break;
case -1:
col = '<button class="item" style="visibility: hidden">' + idx + '</button>';
break;
@@ -579,20 +604,6 @@
$("#mapDataId").append(content)
}
})
-
- $.ajax({
- url: baseUrl+ "/shuttle/table/shuttle/state",
- headers: {'token': localStorage.getItem('token')},
- method: 'POST',
- success: function (res) {
- res.data.forEach((item,index) => {
- if(lev == item.locNoLev){
- let carBox = '<div class="sxcar" id="sxcar-' + item.shuttleNo + '"></div>'
- $("#mapDataId").append(carBox)
- }
- })
- }
- });
}
//灏嗗湴鍥炬暟鎹浆鎹㈡垚int浜岀淮鏁扮粍(鍚庣画鐢ㄤ簬璇锋眰璁＄畻璺緞鏃舵惡甯﹀湴鍥炬暟鎹弬鏁颁娇鐢�)
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