CategoriesUrlRewriteGenerator.php

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<?php
namespace Magento\CatalogUrlRewrite\Model\Product;

use Magento\Catalog\Model\Product;
use Magento\CatalogUrlRewrite\Model\ObjectRegistry;
use Magento\CatalogUrlRewrite\Model\ProductUrlPathGenerator;
use Magento\CatalogUrlRewrite\Model\ProductUrlRewriteGenerator;
use Magento\UrlRewrite\Service\V1\Data\UrlRewrite;
use Magento\UrlRewrite\Service\V1\Data\UrlRewriteFactory;

class CategoriesUrlRewriteGenerator
{
    protected $productUrlPathGenerator;

    protected $urlRewriteFactory;

    public function __construct(ProductUrlPathGenerator $productUrlPathGenerator, UrlRewriteFactory $urlRewriteFactory)
    {
        $this->productUrlPathGenerator = $productUrlPathGenerator;
        $this->urlRewriteFactory = $urlRewriteFactory;
    }

    public function generate($storeId, Product $product, ObjectRegistry $productCategories)
    {
        $urls = [];
        foreach ($productCategories->getList() as $category) {
            $urls[] = $this->urlRewriteFactory->create()
                ->setEntityType(ProductUrlRewriteGenerator::ENTITY_TYPE)
                ->setEntityId($product->getId())
                ->setRequestPath($this->productUrlPathGenerator->getUrlPathWithSuffix($product, $storeId, $category))
                ->setTargetPath($this->productUrlPathGenerator->getCanonicalUrlPath($product, $category))
                ->setStoreId($storeId)
                ->setMetadata(['category_id' => $category->getId()]);
        }
        return $urls;
    }
}