package com.zy.common.utils;
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import java.util.ArrayList;
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import java.util.Collections;
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import java.util.HashMap;
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import java.util.HashSet;
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import java.util.List;
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import java.util.Map;
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import java.util.Set;
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import com.zy.asrs.domain.path.StationPathProfileConfig;
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import com.zy.asrs.domain.path.StationPathResolvedPolicy;
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import com.zy.asrs.domain.path.StationPathRuleConfig;
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import com.zy.asrs.domain.vo.StationCycleCapacityVo;
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import com.zy.asrs.domain.vo.StationCycleLoopVo;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.BasStation;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.BasStationService;
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import com.zy.asrs.service.StationCycleCapacityService;
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import com.zy.asrs.service.StationPathPolicyService;
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import com.zy.core.News;
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import com.zy.core.model.StationObjModel;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.zy.common.model.NavigateNode;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.service.DeviceConfigService;
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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.protocol.StationProtocol;
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import com.zy.core.thread.StationThread;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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@Component
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public class NavigateUtils {
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private static final String CFG_STATION_PATH_LEN_WEIGHT_PERCENT = "stationPathLenWeightPercent";
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private static final String CFG_STATION_PATH_CONG_WEIGHT_PERCENT = "stationPathCongWeightPercent";
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private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT = "stationPathPassOtherOutStationWeightPercent";
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private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP = "stationPathPassOtherOutStationForceSkip";
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@Autowired
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private BasStationService basStationService;
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@Autowired
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private StationPathPolicyService stationPathPolicyService;
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@Autowired
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private StationCycleCapacityService stationCycleCapacityService;
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public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
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BasStation startStation = basStationService.getById(startStationId);
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if (startStation == null) {
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throw new CoolException("未找到该 起点 对应的站点数据");
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}
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Integer lev = startStation.getStationLev();
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NavigateSolution navigateSolution = new NavigateSolution();
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List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
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NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
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if (startNode == null) {
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throw new CoolException("未找到该 起点 对应的节点");
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}
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NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
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if (endNode == null) {
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throw new CoolException("未找到该 终点 对应的节点");
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}
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StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
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StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
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? StationPathProfileConfig.defaultConfig()
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: resolvedPolicy.getProfileConfig();
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long startTime = System.currentTimeMillis();
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News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
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int calcMaxDepth = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxDepth(), 120) : 120;
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int calcMaxPaths = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxPaths(), 500) : 500;
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int calcMaxCost = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxCost(), 300) : 300;
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List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, calcMaxDepth, calcMaxPaths, calcMaxCost);
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if (allList.isEmpty()) {
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// throw new CoolException("未找到该路径");
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return new ArrayList<>();
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}
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News.info("[WCS Debug] 站点路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);
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startTime = System.currentTimeMillis();
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News.info("[WCS Debug] 站点路径权重开始分析,startStationId={},endStationId={}", startStationId, endStationId);
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List<NavigateNode> list = resolvedPolicy.useTwoStage()
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? findStationBestPathTwoStage(allList, resolvedPolicy)
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: findStationBestPath(allList);
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News.info("[WCS Debug] 站点路径权重分析完成，耗时：{}ms", System.currentTimeMillis() - startTime);
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//去重
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HashSet<Integer> set = new HashSet<>();
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List<NavigateNode> fitlerList = new ArrayList<>();
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for (NavigateNode navigateNode : list) {
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JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
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if (valuObject.containsKey("rgvCalcFlag")) {
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continue;
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}
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if (set.add(valuObject.getInteger("stationId"))) {
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fitlerList.add(navigateNode);
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}
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}
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for (int i = 0; i < fitlerList.size(); i++) {
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NavigateNode currentNode = fitlerList.get(i);
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currentNode.setIsInflectionPoint(false);
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currentNode.setIsLiftTransferPoint(false);
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try {
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JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
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if (valueObject != null) {
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Object isLiftTransfer = valueObject.get("isLiftTransfer");
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if (isLiftTransfer != null) {
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String isLiftTransferStr = isLiftTransfer.toString();
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if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
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currentNode.setIsLiftTransferPoint(true);
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}
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}
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}
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} catch (Exception ignore) {}
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NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
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NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
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HashMap<String, Object> result = searchInflectionPoint(currentNode, nextNode, prevNode);
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if (Boolean.parseBoolean(result.get("result").toString())) {
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currentNode.setIsInflectionPoint(true);
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currentNode.setDirection(result.get("direction").toString());
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}
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}
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return fitlerList;
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}
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public synchronized List<NavigateNode> calcByTrackSiteNo(int lev, Integer startTrackSiteNo, Integer endTrackSiteNo) {
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NavigateSolution navigateSolution = new NavigateSolution();
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List<List<NavigateNode>> rgvTrackMap = navigateSolution.getRgvTrackMap(lev);
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NavigateNode startNode = navigateSolution.findTrackSiteNoNavigateNode(rgvTrackMap, startTrackSiteNo);
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if (startNode == null){
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throw new CoolException("未找到该 起点 对应的节点");
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}
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NavigateNode endNode = navigateSolution.findTrackSiteNoNavigateNode(rgvTrackMap, endTrackSiteNo);
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if (endNode == null){
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throw new CoolException("未找到该 终点 对应的节点");
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}
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long startTime = System.currentTimeMillis();
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News.info("[WCS Debug] RGV路径开始计算,startTrackSiteNo:{},endTrackSiteNo={}", startTrackSiteNo, endTrackSiteNo);
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NavigateNode res_node = navigateSolution.astarSearchJava(rgvTrackMap, startNode, endNode);
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if (res_node == null) {
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// throw new CoolException("未找到该路径");
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return new ArrayList<>();
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}
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News.info("[WCS Debug] RGV路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);
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ArrayList<NavigateNode> list = new ArrayList<>();
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// 使用 visited 集合防止父链出现环导致死循环，同时设置安全步数上限
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HashSet<NavigateNode> visited = new HashSet<>();
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int maxSteps = rgvTrackMap.size() * rgvTrackMap.get(0).size() + 5; // 安全上限
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int steps = 0;
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NavigateNode fatherNode = null;//当前循环上一节点，用于拐点计算
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while (res_node != null && visited.add(res_node) && steps++ < maxSteps) {
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res_node.setIsInflectionPoint(false);
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//寻找拐点
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HashMap<String, Object> result = searchInflectionPoint(res_node, fatherNode, res_node.getFather());//分别传入当前节点、父节点、下一节点
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//判断当前节点是否为拐点
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if (Boolean.parseBoolean(result.get("result").toString())) {
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//当前为拐点
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res_node.setIsInflectionPoint(true);
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//拐点方向
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res_node.setDirection(result.get("direction").toString());
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}
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list.add(res_node);
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fatherNode = res_node;//把当前节点保存成一个父节点
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res_node = res_node.getFather();//迭代操作
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}
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if (steps >= maxSteps) {
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throw new CoolException("路径回溯超出安全上限，疑似存在父链循环");
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}
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Collections.reverse(list);
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//将每个节点里面的fatherNode至为null(方便后续计算时父节点过多导致显示的节点太多)
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for (NavigateNode navigateNode : list) {
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//父节点设置为null，不影响计算结果，不影响后续操作。
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//此操作仅为后续排查处理提供视觉方便。
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navigateNode.setFather(null);
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}
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//去重
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HashSet<Integer> set = new HashSet<>();
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List<NavigateNode> fitlerList = new ArrayList<>();
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for(NavigateNode navigateNode : list){
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JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
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if(set.add(valuObject.getInteger("trackSiteNo"))){
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fitlerList.add(navigateNode);
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}
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}
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return fitlerList;
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}
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public synchronized List<NavigateNode> findLiftStationList(int lev) {
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NavigateSolution navigateSolution = new NavigateSolution();
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List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
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List<NavigateNode> liftStationList = new ArrayList<>();
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for (List<NavigateNode> navigateNodes : stationMap) {
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for (NavigateNode navigateNode : navigateNodes) {
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String nodeType = navigateNode.getNodeType();
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if(nodeType == null){
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continue;
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}
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if(!nodeType.equals("devp")){
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continue;
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}
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JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
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if(valuObject == null){
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continue;
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}
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if (valuObject.containsKey("liftNo")) {
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liftStationList.add(navigateNode);
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}
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}
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}
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return liftStationList;
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}
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private StationPathResolvedPolicy resolveStationPathPolicy(Integer startStationId, Integer endStationId) {
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try {
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if (stationPathPolicyService != null) {
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StationPathResolvedPolicy resolved = stationPathPolicyService.resolvePolicy(startStationId, endStationId);
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if (resolved != null) {
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return resolved;
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}
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}
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} catch (Exception e) {
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News.warn("站点路径策略加载失败，回退 legacy: {}", e.getMessage());
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}
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return new StationPathResolvedPolicy();
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}
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private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList, StationPathResolvedPolicy resolvedPolicy) {
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if (allList == null || allList.isEmpty()) {
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return new ArrayList<>();
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}
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StationPathRuleConfig ruleConfig = resolvedPolicy.getRuleConfig() == null
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? new StationPathRuleConfig()
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: resolvedPolicy.getRuleConfig();
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StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
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? StationPathProfileConfig.defaultConfig()
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: resolvedPolicy.getProfileConfig();
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List<List<NavigateNode>> filteredCandidates = applyRuleFilters(allList, ruleConfig, true);
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if (filteredCandidates.isEmpty() && hasWaypoint(ruleConfig) && !strictWaypoint(ruleConfig)) {
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filteredCandidates = applyRuleFilters(allList, ruleConfig, false);
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News.info("[WCS Debug] 站点路径规则已降级，忽略关键途经点约束后重试");
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}
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if (filteredCandidates.isEmpty()) {
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if (resolvedPolicy.matchedRule()) {
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News.warn("站点路径规则命中但无可行路径，ruleCode={}",
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resolvedPolicy.getRuleEntity() == null ? "" : resolvedPolicy.getRuleEntity().getRuleCode());
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return new ArrayList<>();
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}
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filteredCandidates = allList;
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}
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Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
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Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
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List<PathCandidateMetrics> metricsList = new ArrayList<>();
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for (List<NavigateNode> path : filteredCandidates) {
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if (path == null || path.isEmpty()) {
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continue;
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}
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metricsList.add(buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig));
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}
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if (metricsList.isEmpty()) {
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return new ArrayList<>();
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}
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metricsList.sort((a, b) -> compareDouble(a.staticCost, b.staticCost, a.turnCount, b.turnCount, a.pathLen, b.pathLen));
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PathCandidateMetrics preferred = metricsList.get(0);
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int maxLen = (int) Math.ceil(preferred.pathLen * safeDouble(profileConfig.getS1MaxLenRatio(), 1.15d));
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int maxTurns = preferred.turnCount + safeInt(profileConfig.getS1MaxTurnDiff(), 1);
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List<PathCandidateMetrics> stage1Selected = new ArrayList<>();
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for (PathCandidateMetrics metrics : metricsList) {
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if (metrics.pathLen <= maxLen && metrics.turnCount <= maxTurns) {
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stage1Selected.add(metrics);
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}
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}
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if (stage1Selected.isEmpty()) {
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stage1Selected.addAll(metricsList);
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}
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int topK = safeInt(profileConfig.getS1TopK(), 5);
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if (topK > 0 && stage1Selected.size() > topK) {
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stage1Selected = new ArrayList<>(stage1Selected.subList(0, topK));
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}
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stage1Selected.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
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return stage1Selected.get(0).path;
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}
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private List<List<NavigateNode>> applyRuleFilters(List<List<NavigateNode>> allList,
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StationPathRuleConfig ruleConfig,
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boolean includeWaypoint) {
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if (allList == null || allList.isEmpty()) {
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return new ArrayList<>();
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}
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if (ruleConfig == null) {
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return allList;
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}
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List<List<NavigateNode>> result = new ArrayList<>();
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for (List<NavigateNode> path : allList) {
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if (path == null || path.isEmpty()) {
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continue;
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}
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List<Integer> stationIdList = extractStationIdList(path);
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if (!matchHardConstraint(stationIdList, ruleConfig.getHard())) {
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continue;
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}
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if (includeWaypoint && !matchWaypointConstraint(stationIdList, ruleConfig.getWaypoint())) {
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continue;
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}
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result.add(path);
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}
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return result;
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}
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private boolean matchHardConstraint(List<Integer> stationIdList, StationPathRuleConfig.HardConstraint hard) {
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if (stationIdList == null) {
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return false;
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}
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if (hard == null) {
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return true;
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}
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Set<Integer> stationIdSet = new HashSet<>(stationIdList);
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for (Integer stationId : safeList(hard.getMustPassStations())) {
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if (stationId != null && !stationIdSet.contains(stationId)) {
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return false;
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}
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}
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for (Integer stationId : safeList(hard.getForbidStations())) {
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if (stationId != null && stationIdSet.contains(stationId)) {
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return false;
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}
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}
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for (String edge : safeList(hard.getMustPassEdges())) {
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if (notBlank(edge) && !containsEdge(stationIdList, edge)) {
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return false;
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}
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}
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for (String edge : safeList(hard.getForbidEdges())) {
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if (notBlank(edge) && containsEdge(stationIdList, edge)) {
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return false;
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}
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}
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return true;
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}
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private boolean matchWaypointConstraint(List<Integer> stationIdList, StationPathRuleConfig.WaypointConstraint waypoint) {
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if (waypoint == null || waypoint.getStations() == null || waypoint.getStations().isEmpty()) {
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return true;
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}
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int cursor = 0;
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for (Integer stationId : stationIdList) {
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Integer expected = waypoint.getStations().get(cursor);
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if (expected != null && expected.equals(stationId)) {
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cursor++;
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if (cursor >= waypoint.getStations().size()) {
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return true;
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}
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}
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}
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return false;
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}
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private boolean hasWaypoint(StationPathRuleConfig ruleConfig) {
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return ruleConfig != null
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&& ruleConfig.getWaypoint() != null
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&& ruleConfig.getWaypoint().getStations() != null
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&& !ruleConfig.getWaypoint().getStations().isEmpty();
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}
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private boolean strictWaypoint(StationPathRuleConfig ruleConfig) {
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return ruleConfig != null
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&& ruleConfig.getFallback() != null
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&& Boolean.TRUE.equals(ruleConfig.getFallback().getStrictWaypoint());
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}
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private boolean containsEdge(List<Integer> stationIdList, String edgeText) {
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int[] edge = parseEdge(edgeText);
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if (edge == null) {
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return false;
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}
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for (int i = 0; i < stationIdList.size() - 1; i++) {
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Integer current = stationIdList.get(i);
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Integer next = stationIdList.get(i + 1);
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if (current != null && next != null && current == edge[0] && next == edge[1]) {
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return true;
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}
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}
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return false;
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}
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private int[] parseEdge(String edgeText) {
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if (!notBlank(edgeText)) {
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return null;
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}
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String normalized = edgeText.replace(" ", "");
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String[] parts = normalized.split("->");
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if (parts.length != 2) {
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return null;
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}
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try {
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return new int[]{Integer.parseInt(parts[0]), Integer.parseInt(parts[1])};
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} catch (Exception ignore) {
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return null;
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}
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}
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private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
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Map<Integer, StationProtocol> statusMap,
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Map<Integer, Double> stationLoopLoadMap,
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StationPathProfileConfig profileConfig,
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StationPathRuleConfig ruleConfig) {
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PathCandidateMetrics metrics = new PathCandidateMetrics();
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metrics.path = path;
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metrics.pathLen = path.size();
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metrics.turnCount = countTurnCount(path);
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metrics.liftTransferCount = countLiftTransferCount(path);
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List<Integer> stationIdList = extractStationIdList(path);
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metrics.busyStationCount = countBusyStationCount(stationIdList, statusMap);
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metrics.runBlockCount = countRunBlockCount(stationIdList, statusMap);
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metrics.loopPenalty = calcLoopPenalty(stationIdList, stationLoopLoadMap);
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metrics.softDeviationCount = calcSoftDeviationCount(stationIdList,
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ruleConfig == null || ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
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double softDeviationWeight = safeDouble(profileConfig.getS1SoftDeviationWeight(), 4.0d);
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if (ruleConfig != null && ruleConfig.getSoft() != null && ruleConfig.getSoft().getDeviationWeight() != null) {
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softDeviationWeight = ruleConfig.getSoft().getDeviationWeight();
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}
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metrics.staticCost =
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safeDouble(profileConfig.getS1LenWeight(), 1.0d) * metrics.pathLen
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+ safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
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+ safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
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+ softDeviationWeight * metrics.softDeviationCount;
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metrics.dynamicCost =
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safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * metrics.busyStationCount
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+ safeDouble(profileConfig.getS2RunBlockWeight(), 10.0d) * metrics.runBlockCount
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+ safeDouble(profileConfig.getS2LoopLoadWeight(), 12.0d) * metrics.loopPenalty;
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return metrics;
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}
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private int countTurnCount(List<NavigateNode> path) {
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if (path == null || path.size() < 3) {
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return 0;
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}
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int count = 0;
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for (int i = 1; i < path.size() - 1; i++) {
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NavigateNode prev = path.get(i - 1);
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NavigateNode next = path.get(i + 1);
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if (prev == null || next == null) {
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continue;
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}
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if (prev.getX() != next.getX() && prev.getY() != next.getY()) {
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count++;
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}
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}
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return count;
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}
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private int countLiftTransferCount(List<NavigateNode> path) {
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int count = 0;
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for (NavigateNode node : safeList(path)) {
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try {
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JSONObject valueObject = JSON.parseObject(node.getNodeValue());
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if (valueObject == null) {
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continue;
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}
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Object isLiftTransfer = valueObject.get("isLiftTransfer");
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if (isLiftTransfer != null) {
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String text = String.valueOf(isLiftTransfer);
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if ("1".equals(text) || "true".equalsIgnoreCase(text)) {
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count++;
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}
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}
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} catch (Exception ignore) {
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}
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}
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return count;
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}
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private int countBusyStationCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
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int count = 0;
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for (Integer stationId : stationIdList) {
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StationProtocol protocol = statusMap.get(stationId);
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if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
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count++;
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}
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}
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return count;
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}
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private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
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int count = 0;
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for (Integer stationId : stationIdList) {
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StationProtocol protocol = statusMap.get(stationId);
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if (protocol != null && protocol.isRunBlock()) {
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count++;
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}
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}
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return count;
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}
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private double calcLoopPenalty(List<Integer> stationIdList, Map<Integer, Double> stationLoopLoadMap) {
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double maxLoad = 0.0d;
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for (Integer stationId : stationIdList) {
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Double load = stationLoopLoadMap.get(stationId);
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if (load != null && load > maxLoad) {
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maxLoad = load;
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}
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}
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return maxLoad;
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}
|
|
private int calcSoftDeviationCount(List<Integer> stationIdList, List<Integer> preferredPath) {
|
if (preferredPath == null || preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
|
return 0;
|
}
|
Set<Integer> preferredSet = new HashSet<>(preferredPath);
|
int count = 0;
|
for (int i = 1; i < stationIdList.size() - 1; i++) {
|
Integer stationId = stationIdList.get(i);
|
if (stationId != null && !preferredSet.contains(stationId)) {
|
count++;
|
}
|
}
|
return count;
|
}
|
|
private List<Integer> extractStationIdList(List<NavigateNode> path) {
|
List<Integer> stationIdList = new ArrayList<>();
|
Set<Integer> seen = new HashSet<>();
|
for (NavigateNode node : safeList(path)) {
|
Integer stationId = extractStationId(node);
|
if (stationId == null) {
|
continue;
|
}
|
if (seen.add(stationId)) {
|
stationIdList.add(stationId);
|
}
|
}
|
return stationIdList;
|
}
|
|
private Map<Integer, StationProtocol> loadStationStatusMap() {
|
Map<Integer, StationProtocol> statusMap = new HashMap<>();
|
try {
|
DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
|
if (deviceConfigService == null) {
|
return statusMap;
|
}
|
List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
|
.eq("device_type", String.valueOf(SlaveType.Devp)));
|
for (DeviceConfig deviceConfig : devpList) {
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
|
if (stationThread == null) {
|
continue;
|
}
|
Map<Integer, StationProtocol> map = stationThread.getStatusMap();
|
if (map != null && !map.isEmpty()) {
|
statusMap.putAll(map);
|
}
|
}
|
} catch (Exception ignore) {
|
}
|
return statusMap;
|
}
|
|
private Map<Integer, Double> loadStationLoopLoadMap() {
|
Map<Integer, Double> stationLoopLoadMap = new HashMap<>();
|
try {
|
if (stationCycleCapacityService == null) {
|
return stationLoopLoadMap;
|
}
|
StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
|
if (capacityVo == null || capacityVo.getLoopList() == null) {
|
return stationLoopLoadMap;
|
}
|
for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
|
if (loopVo == null || loopVo.getStationIdList() == null) {
|
continue;
|
}
|
double currentLoad = loopVo.getCurrentLoad() == null ? 0.0d : loopVo.getCurrentLoad();
|
for (Integer stationId : loopVo.getStationIdList()) {
|
if (stationId != null) {
|
stationLoopLoadMap.put(stationId, currentLoad);
|
}
|
}
|
}
|
} catch (Exception ignore) {
|
}
|
return stationLoopLoadMap;
|
}
|
|
private int compareDouble(double left, double right, int thenLeft1, int thenRight1, int thenLeft2, int thenRight2) {
|
int result = Double.compare(left, right);
|
if (result != 0) {
|
return result;
|
}
|
result = Integer.compare(thenLeft1, thenRight1);
|
if (result != 0) {
|
return result;
|
}
|
return Integer.compare(thenLeft2, thenRight2);
|
}
|
|
private int safeInt(Integer value, int defaultValue) {
|
return value == null ? defaultValue : value;
|
}
|
|
private double safeDouble(Double value, double defaultValue) {
|
return value == null ? defaultValue : value;
|
}
|
|
private boolean notBlank(String text) {
|
return text != null && !text.trim().isEmpty();
|
}
|
|
private <T> List<T> safeList(List<T> list) {
|
return list == null ? Collections.emptyList() : list;
|
}
|
|
private static class PathCandidateMetrics {
|
private List<NavigateNode> path;
|
private int pathLen;
|
private int turnCount;
|
private int liftTransferCount;
|
private int busyStationCount;
|
private int runBlockCount;
|
private int softDeviationCount;
|
private double loopPenalty;
|
private double staticCost;
|
private double dynamicCost;
|
}
|
|
public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
|
if (allList == null || allList.isEmpty()) {
|
return new ArrayList<>();
|
}
|
|
Map<Integer, StationProtocol> statusMap = new HashMap<>();
|
try {
|
DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
|
if (deviceConfigService != null) {
|
List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
|
.eq("device_type", String.valueOf(SlaveType.Devp)));
|
for (DeviceConfig deviceConfig : devpList) {
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
|
if (stationThread == null) {
|
continue;
|
}
|
Map<Integer, StationProtocol> m = stationThread.getStatusMap();
|
if (m != null && !m.isEmpty()) {
|
statusMap.putAll(m);
|
}
|
}
|
}
|
} catch (Exception ignore) {}
|
|
Set<Integer> outStationIdSet = loadAllOutStationIdSet();
|
|
double lenWeightPercent = 50.0;
|
double congWeightPercent = 50.0;
|
double passOtherOutStationWeightPercent = 100.0;
|
boolean forceSkipPassOtherOutStation = false;
|
try {
|
ConfigService configService = SpringUtils.getBean(ConfigService.class);
|
if (configService != null) {
|
lenWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_LEN_WEIGHT_PERCENT, lenWeightPercent);
|
congWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_CONG_WEIGHT_PERCENT, congWeightPercent);
|
passOtherOutStationWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT, passOtherOutStationWeightPercent);
|
forceSkipPassOtherOutStation = loadBooleanConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP, false);
|
}
|
} catch (Exception ignore) {}
|
|
List<List<NavigateNode>> candidates = new ArrayList<>();
|
List<Integer> lens = new ArrayList<>();
|
List<Integer> tasksList = new ArrayList<>();
|
List<Double> congs = new ArrayList<>();
|
List<Integer> passOtherOutStationCounts = new ArrayList<>();
|
int skippedByPassOtherOutStation = 0;
|
|
for (List<NavigateNode> path : allList) {
|
if (path == null || path.isEmpty()) {
|
continue;
|
}
|
int len = path.size();
|
int tasks = 0;
|
HashSet<Integer> stationIdSet = new HashSet<>();
|
for (NavigateNode node : path) {
|
JSONObject value = null;
|
try {
|
value = JSON.parseObject(node.getNodeValue());
|
} catch (Exception ignore) {}
|
if (value == null) {
|
continue;
|
}
|
Integer stationId = value.getInteger("stationId");
|
if (stationId == null) {
|
continue;
|
}
|
if (!stationIdSet.add(stationId)) {
|
continue;
|
}
|
StationProtocol protocol = statusMap.get(stationId);
|
if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
|
tasks++;
|
}
|
}
|
double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
|
int passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
|
if (forceSkipPassOtherOutStation && passOtherOutStationCount > 0) {
|
skippedByPassOtherOutStation++;
|
News.info("[WCS Debug] 站点路径候选已跳过，因经过其他出库站点,startStationId={},endStationId={},passOtherOutStationCount={}",
|
extractStationId(path.get(0)),
|
extractStationId(path.get(path.size() - 1)),
|
passOtherOutStationCount);
|
continue;
|
}
|
candidates.add(path);
|
lens.add(len);
|
tasksList.add(tasks);
|
congs.add(cong);
|
passOtherOutStationCounts.add(passOtherOutStationCount);
|
}
|
|
if (candidates.isEmpty()) {
|
if (forceSkipPassOtherOutStation && skippedByPassOtherOutStation > 0) {
|
News.info("[WCS Debug] 所有站点路径候选均因经过其他出库站点被强制跳过");
|
return new ArrayList<>();
|
}
|
return allList.get(0);
|
}
|
|
int minLen = Integer.MAX_VALUE;
|
int maxLen = Integer.MIN_VALUE;
|
double minCong = Double.MAX_VALUE;
|
double maxCong = -Double.MAX_VALUE;
|
int minPassOtherOutStationCount = Integer.MAX_VALUE;
|
int maxPassOtherOutStationCount = Integer.MIN_VALUE;
|
for (int i = 0; i < candidates.size(); i++) {
|
int l = lens.get(i);
|
double c = congs.get(i);
|
int p = passOtherOutStationCounts.get(i);
|
if (l < minLen) minLen = l;
|
if (l > maxLen) maxLen = l;
|
if (c < minCong) minCong = c;
|
if (c > maxCong) maxCong = c;
|
if (p < minPassOtherOutStationCount) minPassOtherOutStationCount = p;
|
if (p > maxPassOtherOutStationCount) maxPassOtherOutStationCount = p;
|
}
|
|
double weightSum = lenWeightPercent + congWeightPercent + passOtherOutStationWeightPercent;
|
double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
|
double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
|
double passOtherOutStationW = weightSum <= 0 ? 0.0 : passOtherOutStationWeightPercent / weightSum;
|
|
List<NavigateNode> best = null;
|
double bestCost = Double.MAX_VALUE;
|
int bestPassOtherOutStationCount = Integer.MAX_VALUE;
|
int bestTasks = Integer.MAX_VALUE;
|
int bestLen = Integer.MAX_VALUE;
|
for (int i = 0; i < candidates.size(); i++) {
|
int l = lens.get(i);
|
int t = tasksList.get(i);
|
double c = congs.get(i);
|
int p = passOtherOutStationCounts.get(i);
|
//归一化
|
double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
|
double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
|
double passOtherOutStationNorm = (maxPassOtherOutStationCount - minPassOtherOutStationCount) <= 0
|
? 0.0
|
: (p - minPassOtherOutStationCount) / (double) (maxPassOtherOutStationCount - minPassOtherOutStationCount);
|
//获取权重
|
double cost = lenNorm * lenW + congNorm * congW + passOtherOutStationNorm * passOtherOutStationW;
|
if (cost < bestCost
|
|| (cost == bestCost && p < bestPassOtherOutStationCount)
|
|| (cost == bestCost && p == bestPassOtherOutStationCount && t < bestTasks)
|
|| (cost == bestCost && p == bestPassOtherOutStationCount && t == bestTasks && l < bestLen)) {
|
best = candidates.get(i);
|
bestCost = cost;
|
bestPassOtherOutStationCount = p;
|
bestTasks = t;
|
bestLen = l;
|
}
|
}
|
|
if (best == null) {
|
return allList.get(0);
|
}
|
return best;
|
}
|
|
private Set<Integer> loadAllOutStationIdSet() {
|
Set<Integer> outStationIdSet = new HashSet<>();
|
try {
|
BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
|
if (basDevpService == null) {
|
return outStationIdSet;
|
}
|
List<BasDevp> basDevpList = basDevpService.list(new QueryWrapper<BasDevp>().eq("status", 1));
|
for (BasDevp basDevp : basDevpList) {
|
List<StationObjModel> outStationList = basDevp.getOutStationList$();
|
for (StationObjModel stationObjModel : outStationList) {
|
if (stationObjModel != null && stationObjModel.getStationId() != null) {
|
outStationIdSet.add(stationObjModel.getStationId());
|
}
|
}
|
}
|
} catch (Exception ignore) {}
|
return outStationIdSet;
|
}
|
|
private int countPassOtherOutStations(List<NavigateNode> path, Set<Integer> outStationIdSet) {
|
if (path == null || path.size() < 3 || outStationIdSet == null || outStationIdSet.isEmpty()) {
|
return 0;
|
}
|
Integer startStationId = extractStationId(path.get(0));
|
Integer endStationId = extractStationId(path.get(path.size() - 1));
|
Set<Integer> hitStationIdSet = new HashSet<>();
|
for (int i = 1; i < path.size() - 1; i++) {
|
Integer stationId = extractStationId(path.get(i));
|
if (stationId == null) {
|
continue;
|
}
|
if (startStationId != null && startStationId.equals(stationId)) {
|
continue;
|
}
|
if (endStationId != null && endStationId.equals(stationId)) {
|
continue;
|
}
|
if (outStationIdSet.contains(stationId)) {
|
hitStationIdSet.add(stationId);
|
}
|
}
|
return hitStationIdSet.size();
|
}
|
|
private Integer extractStationId(NavigateNode node) {
|
if (node == null || node.getNodeValue() == null) {
|
return null;
|
}
|
try {
|
JSONObject value = JSON.parseObject(node.getNodeValue());
|
if (value == null) {
|
return null;
|
}
|
return value.getInteger("stationId");
|
} catch (Exception ignore) {}
|
return null;
|
}
|
|
private double loadDoubleConfig(ConfigService configService, String code, double defaultValue) {
|
if (configService == null || code == null) {
|
return defaultValue;
|
}
|
Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
|
if (config == null || config.getValue() == null) {
|
return defaultValue;
|
}
|
String value = config.getValue().trim();
|
if (value.endsWith("%")) {
|
value = value.substring(0, value.length() - 1);
|
}
|
try {
|
return Double.parseDouble(value);
|
} catch (Exception ignore) {}
|
return defaultValue;
|
}
|
|
private boolean loadBooleanConfig(ConfigService configService, String code, boolean defaultValue) {
|
if (configService == null || code == null) {
|
return defaultValue;
|
}
|
Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
|
if (config == null || config.getValue() == null) {
|
return defaultValue;
|
}
|
String value = config.getValue().trim();
|
if (value.isEmpty()) {
|
return defaultValue;
|
}
|
return "1".equals(value)
|
|| "true".equalsIgnoreCase(value)
|
|| "yes".equalsIgnoreCase(value)
|
|| "y".equalsIgnoreCase(value)
|
|| "on".equalsIgnoreCase(value);
|
}
|
|
//判断当前节点到下一个节点是否为拐点
|
public HashMap<String,Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
|
HashMap<String, Object> map = new HashMap<>();
|
map.put("result", false);//是否为拐点，true：拐点，false：直线
|
// 第一个点或直线点
|
if (fatherNode == null || nextNode == null || nextNode.getX() == fatherNode.getX() || nextNode.getY() == fatherNode.getY()) {
|
return map;//不是拐点直接返回
|
}
|
|
//拐点方向
|
String direction = calcDirection(currentNode, fatherNode);
|
|
map.put("result", true);//拐点
|
map.put("direction", direction);//拐点方向（从当前节点视角看的方向）
|
return map;
|
}
|
|
/**
|
* 计算方向
|
*/
|
public String calcDirection(NavigateNode currentNode, NavigateNode fatherNode) {
|
//拐点方向
|
String direction = "";
|
// 普通拐点
|
//计算拐点方向
|
if (fatherNode.getX() != currentNode.getX()) {
|
//x轴数据有差异，判断x轴方向
|
//当前节点X - 父节点X
|
if (currentNode.getX() - fatherNode.getX() > 0) {
|
//大于0，方向top
|
direction = "top";
|
}else {
|
//小于0，方向bottom
|
direction = "bottom";
|
}
|
}
|
|
if (fatherNode.getY() != currentNode.getY()) {
|
//y轴数据有差异，判断y轴方向
|
//当前节点Y - 父节点Y
|
if (currentNode.getY() - fatherNode.getY() > 0) {
|
//大于0，方向left
|
direction = "left";
|
}else {
|
//小于0，方向right
|
direction = "right";
|
}
|
}
|
|
return direction;
|
}
|
}
|
