6114 lines
180 KiB
C#
6114 lines
180 KiB
C#
using Newtonsoft.Json;
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using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Threading.Tasks;
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using UnityEngine;
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public partial class AMR : MonoBehaviour
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{
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[SerializeField] private float defaultSpeed = 1f;
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[SerializeField] private int trajectoryResolution = 50;
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[SerializeField] private Material lineMaterial;
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[SerializeField] private Material nodeMaterial;
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[SerializeField] private string mqttBroker = "10.70.21.5";
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[SerializeField] private int mqttPort = 1885;
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[SerializeField] private string mqttUsername = "robotics";
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[SerializeField] private string mqttPassword = "robotics";
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[SerializeField] private string agvId = "tls";
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[SerializeField] private string mqttClientId = "tls";
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[SerializeField] private float visualizationUpdateInterval = 0.1f;
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[SerializeField] private float checkPalletRadius = 2f; // Bán kính kiểm tra pallet
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[SerializeField] private float checkPalletMaxDistance = -1.5f; // Khoảng cách kiểm tra pallet
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[SerializeField] private LayerMask checkPalletTargetMask = 1; // LayerMask kiểm tra pallet
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[SerializeField] private bool isDebuggingPalletCheck = false; // Bật/tắt hiển thị vùng kiểm tra pallet
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private MqttClientManager mqttClientManager;
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private PathVisualizer pathVisualizer;
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private PathMover pathMover;
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private ActionExecutor actionExecutor;
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private VisualizationSender visualizationSender;
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private ActionStateSender actionStateSender;
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private OrderProcessor orderProcessor;
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private AnimationControllerAPM animationController;
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private readonly ConcurrentQueue<string> jsonQueue = new();
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private readonly ConcurrentQueue<string> instantActionQueue = new();
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private Vector3 lastPosition;
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private Quaternion lastRotation;
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private Vector3 velocity;
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private float angularVelocity;
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private float lastVisualizationTime;
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private string currentMapId = "";
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private readonly string instantActionsTopic = "instantActions";
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private readonly string orderTopic = "order";
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private readonly string visualizationTopic = "visualization";
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private readonly string stateTopic = "state";
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private float lastEulerY;
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async void Start()
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{
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animationController = GetComponent<AnimationControllerAPM>();
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if (animationController == null)
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{
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Debug.LogError("AnimationControllerAPM không được tìm thấy trên GameObject!");
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}
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pathVisualizer = new PathVisualizer(lineMaterial, nodeMaterial, transform, trajectoryResolution);
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mqttClientManager = new MqttClientManager(
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mqttBroker, mqttPort, mqttUsername, mqttPassword, mqttClientId,
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orderTopic, instantActionsTopic, jsonQueue, instantActionQueue);
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// Khởi tạo orderProcessor và pathMover trước
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orderProcessor = new OrderProcessor(pathVisualizer, null, transform, currentMapId, agvId);
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pathMover = new PathMover(transform, this, defaultSpeed, trajectoryResolution, null); // Tạm thời để actionExecutor là null
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// Khởi tạo actionStateSender với đầy đủ tham số
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actionStateSender = new ActionStateSender(
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mqttClientManager, orderProcessor, animationController, stateTopic,
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instantActionsTopic, agvId, currentMapId, pathMover);
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// Khởi tạo actionExecutor với moveSpeed từ defaultSpeed
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actionExecutor = new ActionExecutor(
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this, animationController, actionStateSender, transform,
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0.5f, checkPalletRadius, checkPalletMaxDistance, checkPalletTargetMask, isDebuggingPalletCheck);
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// Cập nhật pathMover với actionExecutor
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pathMover = new PathMover(transform, this, defaultSpeed, trajectoryResolution, actionExecutor);
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// Khởi tạo orderProcessor với pathMover đã cập nhật
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orderProcessor = new OrderProcessor(pathVisualizer, pathMover, transform, currentMapId, agvId);
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visualizationSender = new VisualizationSender(
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mqttClientManager, transform, orderProcessor, visualizationTopic, stateTopic,
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agvId, currentMapId, pathMover);
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await mqttClientManager.InitializeAsync();
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lastPosition = transform.position;
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lastRotation = transform.rotation;
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lastEulerY = transform.eulerAngles.y;
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lastVisualizationTime = Time.time;
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//await SendSampleOrdersToTopic();
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}
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async void OnDestroy()
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{
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await mqttClientManager.StopAsync();
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pathVisualizer.ClearPath();
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}
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void Update()
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{
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while (instantActionQueue.TryDequeue(out string instantJson))
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{
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actionStateSender.ProcessInstantActionJson(instantJson);
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}
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int maxOrders = 2;
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int orderCount = 0;
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while (orderCount < maxOrders && jsonQueue.TryDequeue(out string json))
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{
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try
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{
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var order = JsonConvert.DeserializeObject<OrderData>(json);
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if (order.SerialNumber == agvId)
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{
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orderProcessor.ProcessOrderJson(json);
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orderCount++;
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}
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else
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{
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Debug.LogWarning($"Bỏ qua JSON order vì serialNumber ({order.SerialNumber}) không khớp với agvId ({agvId}).");
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}
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}
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catch (Exception ex)
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{
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Debug.LogError($"Lỗi khi kiểm tra serialNumber trong JSON order: {ex.Message}");
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}
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}
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float currentEulerY = transform.eulerAngles.y;
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// Chỉ cập nhật theta khi pathMover đang di chuyển và góc thay đổi đáng kể
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if (pathMover.IsMoving && Mathf.Abs(currentEulerY - lastEulerY) > 0.01f)
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{
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pathMover.UpdateVdaThetaFromUnity(currentEulerY);
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lastEulerY = currentEulerY;
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}
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UpdateVelocity();
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visualizationSender.SetVelocity(velocity, angularVelocity);
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if (Time.time - lastVisualizationTime >= visualizationUpdateInterval)
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{
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visualizationSender.SendVisualization();
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visualizationSender.SendState();
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lastVisualizationTime = Time.time;
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}
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currentMapId = orderProcessor.CurrentMapId;
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}
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private void UpdateVelocity()
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{
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if (!pathMover.IsMoving)
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{
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velocity = Vector3.zero;
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angularVelocity = 0f;
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return;
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}
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Vector3 deltaPosition = transform.position - lastPosition;
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velocity = deltaPosition / Time.deltaTime;
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float deltaAngle = Quaternion.Angle(transform.rotation, lastRotation);
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angularVelocity = (-deltaAngle * Mathf.Deg2Rad) / Time.deltaTime;
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if (Quaternion.Dot(transform.rotation, lastRotation) < 0)
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{
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angularVelocity = -angularVelocity;
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}
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lastPosition = transform.position;
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lastRotation = transform.rotation;
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}
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// Thêm OnDrawGizmos để vẽ vùng kiểm tra pallet
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private void OnDrawGizmos()
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{
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if (!isDebuggingPalletCheck) return;
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Vector3 origin = transform.position;
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Vector3 direction = transform.right;
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Vector3 endPoint = origin + direction * checkPalletMaxDistance;
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// Vẽ đường từ robot đến điểm kiểm tra
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Gizmos.color = Color.green;
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Gizmos.DrawLine(origin, endPoint);
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// Vẽ hình cầu tại điểm kiểm tra
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Gizmos.color = new Color(0, 1, 0, 0.5f); // Màu xanh lục với độ trong suốt
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Gizmos.DrawWireSphere(endPoint, checkPalletRadius);
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}
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private async Task SendSampleOrdersToTopic()
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{
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try
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{
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// string jsonOrders = @"[
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// {
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// ""headerId"": 1,
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// ""timestamp"": ""2025-07-03T14:40:18.707Z"",
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// ""version"": ""0.0.1"",
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// ""manufacturer"": ""phenikaaX"",
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// ""serialNumber"": ""APM-S"",
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// ""orderId"": ""67c76871-c756-4bfe-933c-65c29f83c22d"",
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// ""orderUpdateId"": 1,
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// ""zoneSetId"": ""gara"",
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// ""nodes"": [
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// {
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// ""nodeId"": ""a2710a90-42c2-49ca-abb7-08dda49d01ac"",
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// ""sequenceId"": 0,
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// ""nodeDescription"": ""n0"",
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// ""released"": true,
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// ""nodePosition"": {
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// ""x"": 23.120894220924182,
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// ""y"": 19.3204986573568,
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// ""theta"": -0.031443178442470264,
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// ""allowedDeviationXY"": 1,
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// ""allowedDeviationTheta"": 1,
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// ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
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// ""mapDescription"": """"
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// },
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// ""actions"": []
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// },
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// {
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// ""nodeId"": ""1cbe292a-95e2-44f7-abb8-08dda49d01ac"",
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// ""sequenceId"": 1,
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// ""nodeDescription"": """",
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// ""released"": true,
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// ""nodePosition"": {
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// ""x"": 26.18364637390153,
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// ""y"": 19.224164245033677,
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// ""theta"": -0.031443178442470264,
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// ""allowedDeviationXY"": 0,
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// ""allowedDeviationTheta"": 0,
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// ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
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// ""mapDescription"": """"
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// },
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// ""actions"": []
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// },
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// {
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// ""nodeId"": ""72f63ac5-92fc-4978-ab8b-08dda49d01ac"",
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// ""sequenceId"": 2,
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// ""nodeDescription"": """",
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// ""released"": true,
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// ""nodePosition"": {
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// ""x"": 27.711539097215724,
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// ""y"": 20.862285299929987,
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// ""theta"": 1.5702905359806254,
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// ""allowedDeviationXY"": 0,
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// ""allowedDeviationTheta"": 0,
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// ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
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// ""mapDescription"": """"
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// },
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// ""actions"": []
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// },
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// {
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// ""nodeId"": ""aba8dcff-db79-46c6-ab85-08dda49d01ac"",
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// ""sequenceId"": 3,
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// ""nodeDescription"": """",
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// ""released"": true,
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// ""nodePosition"": {
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// ""x"": 27.675320297804873,
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// ""y"": 23.709082933622714,
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// ""theta"": 1.583518286718516,
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// ""allowedDeviationXY"": 0,
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// ""allowedDeviationTheta"": 0,
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// ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
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// ""mapDescription"": """"
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// },
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// ""actions"": []
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// },
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// {
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// ""nodeId"": ""394bdd00-b812-46b1-ab84-08dda49d01ac"",
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// ""sequenceId"": 4,
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// ""nodeDescription"": """",
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// ""released"": true,
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// ""nodePosition"": {
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// ""x"": 25.107417704282078,
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// ""y"": 22.174309893941782,
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// ""theta"": -0.02063558076795747,
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// ""allowedDeviationXY"": 0,
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// ""allowedDeviationTheta"": 0,
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// ""mapId"": ""8ed231db-7398-4418-78de-08dda49ccfda"",
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// ""mapDescription"": """"
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// },
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// ""actions"": [
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// {
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// ""actionType"": ""startInPallet"",
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// ""actionId"": ""e9f94ea7-a9af-40a9-b9e4-d70af9d0ed0e"",
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// ""actionDescription"": ""\u0110i v\u00E0o l\u1EA5y pallet"",
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// ""blockingType"": ""NONE"",
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// ""actionParameters"": [
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// {
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// ""key"": ""X"",
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// ""value"": ""23.313155705432614""
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// },
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// {
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// ""key"": ""Y"",
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// ""value"": ""22.211340788741143""
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// },
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// {
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// ""key"": ""Theta"",
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// ""value"": ""-0.02063558076795747""
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// }
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// ]
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// },
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// {
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// ""actionType"": ""pick"",
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// ""actionId"": ""bdacd8f0-5c21-40ea-a11e-1cd708ca8655"",
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// ""actionDescription"": ""N\u00E2ng Pallet"",
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// ""blockingType"": ""NONE"",
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// ""actionParameters"": []
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// }
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// ]
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// }
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// ],
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// ""edges"": [
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// {
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// ""edgeId"": ""e98fb3ad-0891-4c83-313b-08dda49d01b1"",
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// ""sequenceId"": 0,
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// ""edgeDescription"": ""n0 - "",
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// ""released"": true,
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// ""startNodeId"": ""a2710a90-42c2-49ca-abb7-08dda49d01ac"",
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// ""endNodeId"": ""1cbe292a-95e2-44f7-abb8-08dda49d01ac"",
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// ""maxSpeed"": 0.5,
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// ""maxHeight"": 0,
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// ""minHeight"": 0,
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// ""orientation"": 0,
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// ""orientationType"": """",
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// ""direction"": ""Both"",
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// ""rotationAllowed"": true,
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// ""maxRotationSpeed"": 0,
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// ""length"": 0,
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// ""trajectory"": {
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// ""degree"": 1,
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// ""knotVector"": [
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// 0,
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// 0,
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// 1,
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// 1
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// ],
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// ""controlPoints"": [
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// {
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// ""x"": 23.120894220924182,
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// ""y"": 19.3204986573568,
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// ""weight"": 1
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// },
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// {
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// ""x"": 26.18364637390153,
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// ""y"": 19.224164245033677,
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// ""weight"": 1
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// }
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// ]
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// },
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// ""actions"": []
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// },
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// {
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// ""edgeId"": ""51e945e2-33d5-447a-313c-08dda49d01b1"",
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// ""sequenceId"": 1,
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// ""edgeDescription"": "" - "",
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// ""released"": true,
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// ""startNodeId"": ""1cbe292a-95e2-44f7-abb8-08dda49d01ac"",
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// ""endNodeId"": ""72f63ac5-92fc-4978-ab8b-08dda49d01ac"",
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// ""maxSpeed"": 0.3,
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// ""maxHeight"": 0,
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// ""minHeight"": 0,
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// ""orientation"": 0,
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// ""orientationType"": """",
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// ""direction"": ""Both"",
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// ""rotationAllowed"": true,
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// ""maxRotationSpeed"": 0,
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// ""length"": 0,
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// ""trajectory"": {
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// ""degree"": 2,
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// ""knotVector"": [
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// 0,
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// 0,
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// 0,
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// 1,
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// 1,
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// 1
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// ],
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// ""controlPoints"": [
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// {
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// ""x"": 26.18364637390153,
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// ""y"": 19.224164245033677,
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// ""weight"": 1
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// },
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// {
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// ""x"": 27.7955828977704,
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// ""y"": 19.294249545383444,
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// ""weight"": 1
|
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// },
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// {
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// ""x"": 27.711539097215724,
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// ""y"": 20.862285299929987,
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// ""weight"": 1
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// }
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// ]
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// },
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// ""actions"": []
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// },
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// {
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|
// ""edgeId"": ""2e0fac38-e11f-44f4-311d-08dda49d01b1"",
|
|
// ""sequenceId"": 2,
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|
// ""edgeDescription"": "" - "",
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|
// ""released"": true,
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|
// ""startNodeId"": ""72f63ac5-92fc-4978-ab8b-08dda49d01ac"",
|
|
// ""endNodeId"": ""aba8dcff-db79-46c6-ab85-08dda49d01ac"",
|
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// ""maxSpeed"": 0.5,
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|
// ""maxHeight"": 0,
|
|
// ""minHeight"": 0,
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|
// ""orientation"": 0,
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|
// ""orientationType"": """",
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// ""direction"": ""Both"",
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// ""rotationAllowed"": true,
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// ""maxRotationSpeed"": 0,
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// ""length"": 0,
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// ""trajectory"": {
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// ""degree"": 1,
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// ""knotVector"": [
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// 0,
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// 0,
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// 1,
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// 1
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// ],
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// ""controlPoints"": [
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// {
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// ""x"": 27.711539097215724,
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// ""y"": 20.862285299929987,
|
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// ""weight"": 1
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// },
|
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// {
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// ""x"": 27.675320297804873,
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// ""y"": 23.709082933622714,
|
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// ""weight"": 1
|
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// }
|
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// ]
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// },
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// ""actions"": []
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// },
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// {
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// ""edgeId"": ""7ca48903-20ca-4e82-3147-08dda49d01b1"",
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// ""sequenceId"": 3,
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// ""edgeDescription"": "" - "",
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// ""released"": true,
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|
// ""startNodeId"": ""aba8dcff-db79-46c6-ab85-08dda49d01ac"",
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// ""endNodeId"": ""394bdd00-b812-46b1-ab84-08dda49d01ac"",
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// ""maxSpeed"": 0.3,
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|
// ""maxHeight"": 0,
|
|
// ""minHeight"": 0,
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|
// ""orientation"": 0,
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|
// ""orientationType"": """",
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// ""direction"": ""Both"",
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// ""rotationAllowed"": true,
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|
// ""maxRotationSpeed"": 0,
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// ""length"": 0,
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// ""trajectory"": {
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// ""degree"": 2,
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// ""knotVector"": [
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// 0,
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// 0,
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// 0,
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// 1,
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// 1,
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// 1
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// ],
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// ""controlPoints"": [
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// {
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// ""x"": 27.675320297804873,
|
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// ""y"": 23.709082933622714,
|
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// ""weight"": 1
|
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// },
|
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// {
|
|
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]";
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var orders = JsonConvert.DeserializeObject<List<OrderData>>(jsonOrders);
|
|
|
|
for (int i = 0; i < 50000; i++)
|
|
{
|
|
foreach (var order in orders)
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{
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|
string json = JsonConvert.SerializeObject(order);
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await mqttClientManager.PublishAsync("order", json);
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|
await Task.Delay(1000); // Độ trễ 1 giây
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}
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}
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}
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catch (Exception ex)
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|
{
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Debug.LogError($"Lỗi khi gửi JSON mẫu đến topic order: {ex.Message}");
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}
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}
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|
} |