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.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.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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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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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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List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
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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 = 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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public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
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if (allList == null || allList.isEmpty()) {
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return new ArrayList<>();
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}
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Map<Integer, StationProtocol> statusMap = new HashMap<>();
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try {
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DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
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if (deviceConfigService != null) {
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List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
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.eq("device_type", String.valueOf(SlaveType.Devp)));
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for (DeviceConfig deviceConfig : devpList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> m = stationThread.getStatusMap();
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if (m != null && !m.isEmpty()) {
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statusMap.putAll(m);
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}
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}
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}
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} catch (Exception ignore) {}
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Set<Integer> outStationIdSet = loadAllOutStationIdSet();
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double lenWeightPercent = 50.0;
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double congWeightPercent = 50.0;
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double passOtherOutStationWeightPercent = 100.0;
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boolean forceSkipPassOtherOutStation = false;
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try {
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ConfigService configService = SpringUtils.getBean(ConfigService.class);
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if (configService != null) {
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lenWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_LEN_WEIGHT_PERCENT, lenWeightPercent);
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congWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_CONG_WEIGHT_PERCENT, congWeightPercent);
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passOtherOutStationWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT, passOtherOutStationWeightPercent);
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forceSkipPassOtherOutStation = loadBooleanConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP, false);
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}
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} catch (Exception ignore) {}
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List<List<NavigateNode>> candidates = new ArrayList<>();
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List<Integer> lens = new ArrayList<>();
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List<Integer> tasksList = new ArrayList<>();
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List<Double> congs = new ArrayList<>();
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List<Integer> passOtherOutStationCounts = new ArrayList<>();
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int skippedByPassOtherOutStation = 0;
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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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int len = path.size();
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int tasks = 0;
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HashSet<Integer> stationIdSet = new HashSet<>();
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for (NavigateNode node : path) {
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JSONObject value = null;
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try {
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value = JSON.parseObject(node.getNodeValue());
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} catch (Exception ignore) {}
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if (value == null) {
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continue;
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}
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Integer stationId = value.getInteger("stationId");
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if (stationId == null) {
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continue;
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}
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if (!stationIdSet.add(stationId)) {
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continue;
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}
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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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tasks++;
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}
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}
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double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
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int passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
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if (forceSkipPassOtherOutStation && passOtherOutStationCount > 0) {
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skippedByPassOtherOutStation++;
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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={}",
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extractStationId(path.get(0)),
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extractStationId(path.get(path.size() - 1)),
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passOtherOutStationCount);
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continue;
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}
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candidates.add(path);
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lens.add(len);
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tasksList.add(tasks);
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congs.add(cong);
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passOtherOutStationCounts.add(passOtherOutStationCount);
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}
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if (candidates.isEmpty()) {
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if (forceSkipPassOtherOutStation && skippedByPassOtherOutStation > 0) {
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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");
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return new ArrayList<>();
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}
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return allList.get(0);
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}
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int minLen = Integer.MAX_VALUE;
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int maxLen = Integer.MIN_VALUE;
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double minCong = Double.MAX_VALUE;
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double maxCong = -Double.MAX_VALUE;
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int minPassOtherOutStationCount = Integer.MAX_VALUE;
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int maxPassOtherOutStationCount = Integer.MIN_VALUE;
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for (int i = 0; i < candidates.size(); i++) {
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int l = lens.get(i);
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double c = congs.get(i);
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int p = passOtherOutStationCounts.get(i);
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if (l < minLen) minLen = l;
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if (l > maxLen) maxLen = l;
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if (c < minCong) minCong = c;
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if (c > maxCong) maxCong = c;
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if (p < minPassOtherOutStationCount) minPassOtherOutStationCount = p;
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if (p > maxPassOtherOutStationCount) maxPassOtherOutStationCount = p;
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}
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double weightSum = lenWeightPercent + congWeightPercent + passOtherOutStationWeightPercent;
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double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
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double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
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double passOtherOutStationW = weightSum <= 0 ? 0.0 : passOtherOutStationWeightPercent / weightSum;
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List<NavigateNode> best = null;
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double bestCost = Double.MAX_VALUE;
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int bestPassOtherOutStationCount = Integer.MAX_VALUE;
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int bestTasks = Integer.MAX_VALUE;
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int bestLen = Integer.MAX_VALUE;
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for (int i = 0; i < candidates.size(); i++) {
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int l = lens.get(i);
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int t = tasksList.get(i);
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double c = congs.get(i);
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int p = passOtherOutStationCounts.get(i);
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//归一化
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double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
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double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
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double passOtherOutStationNorm = (maxPassOtherOutStationCount - minPassOtherOutStationCount) <= 0
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? 0.0
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: (p - minPassOtherOutStationCount) / (double) (maxPassOtherOutStationCount - minPassOtherOutStationCount);
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//获取权重
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double cost = lenNorm * lenW + congNorm * congW + passOtherOutStationNorm * passOtherOutStationW;
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if (cost < bestCost
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|| (cost == bestCost && p < bestPassOtherOutStationCount)
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|| (cost == bestCost && p == bestPassOtherOutStationCount && t < bestTasks)
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|| (cost == bestCost && p == bestPassOtherOutStationCount && t == bestTasks && l < bestLen)) {
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best = candidates.get(i);
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bestCost = cost;
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bestPassOtherOutStationCount = p;
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bestTasks = t;
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bestLen = l;
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}
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}
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if (best == null) {
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return allList.get(0);
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}
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return best;
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}
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private Set<Integer> loadAllOutStationIdSet() {
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Set<Integer> outStationIdSet = new HashSet<>();
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try {
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BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
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if (basDevpService == null) {
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return outStationIdSet;
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}
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List<BasDevp> basDevpList = basDevpService.list(new QueryWrapper<BasDevp>().eq("status", 1));
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for (BasDevp basDevp : basDevpList) {
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List<StationObjModel> outStationList = basDevp.getOutStationList$();
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for (StationObjModel stationObjModel : outStationList) {
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if (stationObjModel != null && stationObjModel.getStationId() != null) {
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outStationIdSet.add(stationObjModel.getStationId());
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}
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}
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}
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} catch (Exception ignore) {}
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return outStationIdSet;
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}
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private int countPassOtherOutStations(List<NavigateNode> path, Set<Integer> outStationIdSet) {
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if (path == null || path.size() < 3 || outStationIdSet == null || outStationIdSet.isEmpty()) {
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return 0;
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}
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Integer startStationId = extractStationId(path.get(0));
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Integer endStationId = extractStationId(path.get(path.size() - 1));
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Set<Integer> hitStationIdSet = new HashSet<>();
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for (int i = 1; i < path.size() - 1; i++) {
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Integer stationId = extractStationId(path.get(i));
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if (stationId == null) {
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continue;
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}
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if (startStationId != null && startStationId.equals(stationId)) {
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continue;
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}
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if (endStationId != null && endStationId.equals(stationId)) {
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continue;
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}
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if (outStationIdSet.contains(stationId)) {
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hitStationIdSet.add(stationId);
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}
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}
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return hitStationIdSet.size();
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}
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private Integer extractStationId(NavigateNode node) {
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if (node == null || node.getNodeValue() == null) {
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return null;
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}
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try {
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JSONObject value = JSON.parseObject(node.getNodeValue());
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if (value == null) {
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return null;
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}
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return value.getInteger("stationId");
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} catch (Exception ignore) {}
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return null;
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}
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private double loadDoubleConfig(ConfigService configService, String code, double defaultValue) {
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if (configService == null || code == null) {
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return defaultValue;
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}
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Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
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if (config == null || config.getValue() == null) {
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return defaultValue;
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}
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String value = config.getValue().trim();
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if (value.endsWith("%")) {
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value = value.substring(0, value.length() - 1);
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}
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try {
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return Double.parseDouble(value);
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} catch (Exception ignore) {}
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return defaultValue;
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}
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private boolean loadBooleanConfig(ConfigService configService, String code, boolean defaultValue) {
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if (configService == null || code == null) {
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return defaultValue;
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}
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Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
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if (config == null || config.getValue() == null) {
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return defaultValue;
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}
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String value = config.getValue().trim();
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if (value.isEmpty()) {
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return defaultValue;
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}
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return "1".equals(value)
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|| "true".equalsIgnoreCase(value)
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|| "yes".equalsIgnoreCase(value)
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|| "y".equalsIgnoreCase(value)
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|| "on".equalsIgnoreCase(value);
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}
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//判断当前节点到下一个节点是否为拐点
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public HashMap<String,Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
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HashMap<String, Object> map = new HashMap<>();
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map.put("result", false);//是否为拐点，true：拐点，false：直线
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// 第一个点或直线点
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if (fatherNode == null || nextNode == null || nextNode.getX() == fatherNode.getX() || nextNode.getY() == fatherNode.getY()) {
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return map;//不是拐点直接返回
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}
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//拐点方向
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String direction = calcDirection(currentNode, fatherNode);
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map.put("result", true);//拐点
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map.put("direction", direction);//拐点方向（从当前节点视角看的方向）
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return map;
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}
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/**
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* 计算方向
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*/
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public String calcDirection(NavigateNode currentNode, NavigateNode fatherNode) {
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//拐点方向
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String direction = "";
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// 普通拐点
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//计算拐点方向
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if (fatherNode.getX() != currentNode.getX()) {
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//x轴数据有差异，判断x轴方向
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//当前节点X - 父节点X
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if (currentNode.getX() - fatherNode.getX() > 0) {
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//大于0，方向top
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direction = "top";
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}else {
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//小于0，方向bottom
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direction = "bottom";
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}
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}
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if (fatherNode.getY() != currentNode.getY()) {
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//y轴数据有差异，判断y轴方向
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//当前节点Y - 父节点Y
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if (currentNode.getY() - fatherNode.getY() > 0) {
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//大于0，方向left
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direction = "left";
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}else {
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//小于0，方向right
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direction = "right";
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}
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}
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return direction;
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}
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}
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