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.LinkedHashSet;
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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.StationTaskTraceSegmentVo;
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import com.zy.asrs.entity.BasStationOpt;
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import com.zy.asrs.domain.vo.StationTaskTraceVo;
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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.BasStationOptService;
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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 com.zy.core.model.command.StationCommand;
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import com.zy.core.enums.StationCommandType;
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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.core.trace.StationTaskTraceRegistry;
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import java.util.Date;
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import java.util.LinkedHashMap;
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@Component
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public class NavigateUtils {
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private static final double CONGESTION_BUSY_BASE = 1.0d;
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private static final double CONGESTION_ISSUED_RESERVE_BASE = 0.75d;
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private static final double CONGESTION_PENDING_QUEUE_BASE = 0.45d;
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private static final double CONGESTION_RUN_BLOCK_BASE = 1.5d;
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private static final double WAIT_BUSY_SECONDS = 10.0d;
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private static final double WAIT_ISSUED_RESERVE_SECONDS = 8.0d;
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private static final double WAIT_PENDING_QUEUE_SECONDS = 5.0d;
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private static final double WAIT_RUN_BLOCK_SECONDS = 30.0d;
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private static final int DEADLOCK_PREFIX_LOOKAHEAD = 6;
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@Autowired
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private BasStationService basStationService;
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@Autowired
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private BasStationOptService basStationOptService;
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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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@Autowired
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private StationTaskTraceRegistry stationTaskTraceRegistry;
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public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
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return calcByStationId(startStationId, endStationId, null, false);
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}
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public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId, Integer currentTaskNo) {
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return calcByStationId(startStationId, endStationId, currentTaskNo, false);
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}
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public synchronized List<NavigateNode> calcReachablePathByStationId(Integer startStationId, Integer endStationId) {
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return calcByStationId(startStationId, endStationId, null, true);
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}
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private synchronized List<NavigateNode> calcByStationId(Integer startStationId,
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Integer endStationId,
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Integer currentTaskNo,
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boolean reachabilityOnly) {
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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 = safeInt(profileConfig.getCalcMaxDepth(), 120);
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int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
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int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
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List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
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List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
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stationMap,
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startNode,
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endNode,
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calcMaxDepth,
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calcMaxPaths,
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calcMaxCost,
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guideStationSequence
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);
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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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Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
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allList = filterNonAutoStationPaths(allList, statusMap);
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if (allList.isEmpty()) {
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News.info("[WCS Debug] 站点路径候选全部被过滤，存在非自动站点,startStationId={},endStationId={}", startStationId, endStationId);
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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 = reachabilityOnly
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? findStationReachablePath(allList, resolvedPolicy, startStationId, endStationId)
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: findStationBestPathTwoStage(allList, resolvedPolicy, currentTaskNo, startStationId, endStationId);
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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，回退默认 twoStage: {}", e.getMessage());
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}
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return new StationPathResolvedPolicy();
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}
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private List<NavigateNode> findStationReachablePath(List<List<NavigateNode>> allList,
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StationPathResolvedPolicy resolvedPolicy,
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Integer startStationId,
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Integer endStationId) {
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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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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] 站点路径可达性规则已降级，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达路径，ruleCode={},startStationId={},endStationId={}",
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resolvedPolicy.getRuleEntity() == null ? "" : resolvedPolicy.getRuleEntity().getRuleCode(),
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startStationId, endStationId);
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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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filteredCandidates.sort((left, right) -> compareReachabilityPath(left, right));
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return filteredCandidates.isEmpty() ? new ArrayList<>() : filteredCandidates.get(0);
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}
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private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
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StationPathResolvedPolicy resolvedPolicy,
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Integer currentTaskNo,
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Integer startStationId,
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Integer endStationId) {
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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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PathGlobalPolicy globalPolicy = loadPathGlobalPolicy(profileConfig);
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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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List<List<NavigateNode>> softFilteredCandidates = applySoftPreferenceFilter(filteredCandidates, ruleConfig);
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if (!softFilteredCandidates.isEmpty()) {
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filteredCandidates = softFilteredCandidates;
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} else if (hasSoftPreference(ruleConfig) && !allowSoftDegrade(ruleConfig)) {
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News.warn("[WCS Debug] 站点路径软偏好命中但无可行路径，且不允许降级");
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return new ArrayList<>();
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} else if (hasSoftPreference(ruleConfig)) {
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News.info("[WCS Debug] 站点路径规则已降级，忽略软偏好约束后重试");
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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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StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
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LoopMergeGuardContext loopMergeGuardContext = loadLoopMergeGuardContext();
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Set<LoopMergeEntry> mandatoryLoopMergeEntrySet = resolveMandatoryLoopMergeEntrySet(filteredCandidates, loopMergeGuardContext);
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Set<Integer> outStationIdSet = loadAllOutStationIdSet();
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List<PathCandidateMetrics> metricsList = new ArrayList<>();
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int skippedByOtherOutStation = 0;
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int skippedByLoopMergeGuard = 0;
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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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if (!isLoopMergePathAllowed(path, statusMap, trafficSnapshot, loopMergeGuardContext, mandatoryLoopMergeEntrySet)) {
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skippedByLoopMergeGuard++;
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continue;
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}
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PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
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if (globalPolicy.forceSkipPassOtherOutStation && metrics.passOtherOutStationCount > 0) {
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skippedByOtherOutStation++;
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continue;
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}
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metricsList.add(metrics);
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}
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if (metricsList.isEmpty()) {
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if (globalPolicy.forceSkipPassOtherOutStation && skippedByOtherOutStation > 0) {
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News.warn("[WCS Debug] 站点路径候选全部被过滤，因经过其他出库站点,startStationId={},endStationId={}",
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startStationId, endStationId);
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} else if (skippedByLoopMergeGuard > 0) {
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News.warn("[WCS Debug] 站点路径候选全部被过滤，因分叉口插入环线主干会影响主干道,startStationId={},endStationId={}",
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startStationId, endStationId);
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}
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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 List<List<NavigateNode>> applySoftPreferenceFilter(List<List<NavigateNode>> allList,
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StationPathRuleConfig ruleConfig) {
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if (allList == null || allList.isEmpty() || ruleConfig == null) {
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return new ArrayList<>();
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}
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StationPathRuleConfig.SoftPreference soft = ruleConfig.getSoft();
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List<Integer> preferredPath = getSoftReferencePath(soft);
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if (preferredPath.isEmpty()) {
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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 (!matchSoftConstraint(stationIdList, soft)) {
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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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}
|
|
private boolean matchWaypointConstraint(List<Integer> stationIdList, StationPathRuleConfig.WaypointConstraint waypoint) {
|
if (waypoint == null || waypoint.getStations() == null || waypoint.getStations().isEmpty()) {
|
return true;
|
}
|
int cursor = 0;
|
for (Integer stationId : stationIdList) {
|
Integer expected = waypoint.getStations().get(cursor);
|
if (expected != null && expected.equals(stationId)) {
|
cursor++;
|
if (cursor >= waypoint.getStations().size()) {
|
return true;
|
}
|
}
|
}
|
return false;
|
}
|
|
private boolean matchSoftConstraint(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
|
List<Integer> preferredPath = getSoftReferencePath(soft);
|
if (preferredPath.isEmpty()) {
|
return true;
|
}
|
if (!containsOrderedStations(stationIdList, preferredPath)) {
|
return false;
|
}
|
Integer maxOffPathCount = soft == null ? null : soft.getMaxOffPathCount();
|
if (maxOffPathCount == null || maxOffPathCount < 0) {
|
return true;
|
}
|
if (!isFullSoftPreferredPath(stationIdList, preferredPath)) {
|
return true;
|
}
|
return countOffPathStations(stationIdList, preferredPath) <= maxOffPathCount;
|
}
|
|
private boolean hasWaypoint(StationPathRuleConfig ruleConfig) {
|
return ruleConfig != null
|
&& ruleConfig.getWaypoint() != null
|
&& ruleConfig.getWaypoint().getStations() != null
|
&& !ruleConfig.getWaypoint().getStations().isEmpty();
|
}
|
|
private boolean hasSoftPreference(StationPathRuleConfig ruleConfig) {
|
return !getSoftReferencePath(ruleConfig == null ? null : ruleConfig.getSoft()).isEmpty();
|
}
|
|
private boolean strictWaypoint(StationPathRuleConfig ruleConfig) {
|
return ruleConfig != null
|
&& ruleConfig.getFallback() != null
|
&& Boolean.TRUE.equals(ruleConfig.getFallback().getStrictWaypoint());
|
}
|
|
private boolean allowSoftDegrade(StationPathRuleConfig ruleConfig) {
|
return ruleConfig == null
|
|| ruleConfig.getFallback() == null
|
|| !Boolean.FALSE.equals(ruleConfig.getFallback().getAllowSoftDegrade());
|
}
|
|
private List<Integer> buildGuideStationSequence(Integer startStationId,
|
Integer endStationId,
|
StationPathRuleConfig ruleConfig) {
|
if (startStationId == null || endStationId == null || ruleConfig == null) {
|
return Collections.emptyList();
|
}
|
|
List<Integer> sequence = new ArrayList<>();
|
appendGuideStation(sequence, startStationId);
|
|
List<Integer> preferredPath = safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
|
if (!preferredPath.isEmpty()) {
|
if (startStationId.equals(preferredPath.get(0))) {
|
for (int i = 1; i < preferredPath.size(); i++) {
|
appendGuideStation(sequence, preferredPath.get(i));
|
}
|
if (sequence.get(sequence.size() - 1).equals(endStationId)) {
|
return sequence;
|
}
|
}
|
sequence.clear();
|
appendGuideStation(sequence, startStationId);
|
}
|
|
for (Integer stationId : safeList(ruleConfig.getWaypoint() == null ? null : ruleConfig.getWaypoint().getStations())) {
|
appendGuideStation(sequence, stationId);
|
}
|
for (Integer stationId : safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getKeyStations())) {
|
appendGuideStation(sequence, stationId);
|
}
|
appendGuideStation(sequence, endStationId);
|
return sequence.size() <= 2 ? Collections.emptyList() : sequence;
|
}
|
|
private void appendGuideStation(List<Integer> sequence, Integer stationId) {
|
if (sequence == null || stationId == null) {
|
return;
|
}
|
if (!sequence.isEmpty() && stationId.equals(sequence.get(sequence.size() - 1))) {
|
return;
|
}
|
sequence.add(stationId);
|
}
|
|
private boolean containsEdge(List<Integer> stationIdList, String edgeText) {
|
int[] edge = parseEdge(edgeText);
|
if (edge == null) {
|
return false;
|
}
|
for (int i = 0; i < stationIdList.size() - 1; i++) {
|
Integer current = stationIdList.get(i);
|
Integer next = stationIdList.get(i + 1);
|
if (current != null && next != null && current == edge[0] && next == edge[1]) {
|
return true;
|
}
|
}
|
return false;
|
}
|
|
private int[] parseEdge(String edgeText) {
|
if (!notBlank(edgeText)) {
|
return null;
|
}
|
String normalized = edgeText.replace(" ", "");
|
String[] parts = normalized.split("->");
|
if (parts.length != 2) {
|
return null;
|
}
|
try {
|
return new int[]{Integer.parseInt(parts[0]), Integer.parseInt(parts[1])};
|
} catch (Exception ignore) {
|
return null;
|
}
|
}
|
|
private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
|
Map<Integer, StationProtocol> statusMap,
|
Map<Integer, Double> stationLoopLoadMap,
|
StationTrafficSnapshot trafficSnapshot,
|
StationPathProfileConfig profileConfig,
|
StationPathRuleConfig ruleConfig,
|
PathGlobalPolicy globalPolicy,
|
Set<Integer> outStationIdSet) {
|
PathCandidateMetrics metrics = new PathCandidateMetrics();
|
metrics.path = path;
|
metrics.pathLen = path.size();
|
metrics.turnCount = countTurnCount(path);
|
metrics.liftTransferCount = countLiftTransferCount(path);
|
|
List<Integer> stationIdList = extractStationIdList(path);
|
metrics.congestionScore = calcCongestionScore(stationIdList, trafficSnapshot);
|
metrics.queueDepthScore = calcQueueDepthScore(stationIdList, trafficSnapshot);
|
metrics.estimatedWaitSeconds = calcEstimatedWaitSeconds(stationIdList, trafficSnapshot);
|
metrics.deadlockRiskScore = calcDeadlockRiskScore(stationIdList, trafficSnapshot);
|
metrics.runBlockCount = countRunBlockCount(stationIdList, statusMap);
|
metrics.loopPenalty = calcLoopPenalty(stationIdList, stationLoopLoadMap);
|
metrics.passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
|
metrics.softDeviationCount = calcSoftDeviationCount(stationIdList,
|
ruleConfig == null ? null : ruleConfig.getSoft());
|
|
double softDeviationWeight = safeDouble(profileConfig.getS1SoftDeviationWeight(), 4.0d);
|
if (ruleConfig != null && ruleConfig.getSoft() != null && ruleConfig.getSoft().getDeviationWeight() != null) {
|
softDeviationWeight = ruleConfig.getSoft().getDeviationWeight();
|
}
|
|
double lenWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.lenWeightFactor;
|
double congWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.congWeightFactor;
|
double passOtherOutStationPenaltyWeight = globalPolicy == null ? 0.0d : globalPolicy.passOtherOutStationPenaltyWeight;
|
|
metrics.staticCost =
|
safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor * metrics.pathLen
|
+ safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
|
+ safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
|
+ passOtherOutStationPenaltyWeight * metrics.passOtherOutStationCount
|
+ softDeviationWeight * metrics.softDeviationCount;
|
|
metrics.dynamicCost =
|
safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.congestionScore
|
+ safeDouble(profileConfig.getS2QueueWeight(), 2.5d) * metrics.queueDepthScore
|
+ safeDouble(profileConfig.getS2WaitWeight(), 1.5d) * (metrics.estimatedWaitSeconds / 60.0d)
|
+ safeDouble(profileConfig.getS2DeadlockWeight(), 8.0d) * metrics.deadlockRiskScore
|
+ safeDouble(profileConfig.getS2RunBlockWeight(), 10.0d) * metrics.runBlockCount
|
+ safeDouble(profileConfig.getS2LoopLoadWeight(), 12.0d) * metrics.loopPenalty;
|
return metrics;
|
}
|
|
private int countTurnCount(List<NavigateNode> path) {
|
if (path == null || path.size() < 3) {
|
return 0;
|
}
|
int count = 0;
|
for (int i = 1; i < path.size() - 1; i++) {
|
NavigateNode prev = path.get(i - 1);
|
NavigateNode next = path.get(i + 1);
|
if (prev == null || next == null) {
|
continue;
|
}
|
if (prev.getX() != next.getX() && prev.getY() != next.getY()) {
|
count++;
|
}
|
}
|
return count;
|
}
|
|
private int compareReachabilityPath(List<NavigateNode> left, List<NavigateNode> right) {
|
int leftLen = left == null ? Integer.MAX_VALUE : left.size();
|
int rightLen = right == null ? Integer.MAX_VALUE : right.size();
|
int leftTurnCount = countTurnCount(left);
|
int rightTurnCount = countTurnCount(right);
|
int leftLiftCount = countLiftTransferCount(left);
|
int rightLiftCount = countLiftTransferCount(right);
|
return compareDouble(leftLen, rightLen, leftTurnCount, rightTurnCount, leftLiftCount, rightLiftCount);
|
}
|
|
private int countLiftTransferCount(List<NavigateNode> path) {
|
int count = 0;
|
for (NavigateNode node : safeList(path)) {
|
try {
|
JSONObject valueObject = JSON.parseObject(node.getNodeValue());
|
if (valueObject == null) {
|
continue;
|
}
|
Object isLiftTransfer = valueObject.get("isLiftTransfer");
|
if (isLiftTransfer != null) {
|
String text = String.valueOf(isLiftTransfer);
|
if ("1".equals(text) || "true".equalsIgnoreCase(text)) {
|
count++;
|
}
|
}
|
} catch (Exception ignore) {
|
}
|
}
|
return count;
|
}
|
|
private double calcCongestionScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
|
if (trafficSnapshot == null || trafficSnapshot.congestionScoreMap.isEmpty()) {
|
return 0.0d;
|
}
|
double score = 0.0d;
|
for (Integer stationId : stationIdList) {
|
score += trafficSnapshot.congestionScoreMap.getOrDefault(stationId, 0.0d);
|
}
|
return score;
|
}
|
|
private double calcQueueDepthScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
|
if (trafficSnapshot == null || trafficSnapshot.queueDepthMap.isEmpty()) {
|
return 0.0d;
|
}
|
double score = 0.0d;
|
for (Integer stationId : stationIdList) {
|
score += trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0);
|
}
|
return score;
|
}
|
|
private double calcEstimatedWaitSeconds(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
|
if (trafficSnapshot == null || trafficSnapshot.estimatedWaitSecondsMap.isEmpty()) {
|
return 0.0d;
|
}
|
double score = 0.0d;
|
for (Integer stationId : stationIdList) {
|
score += trafficSnapshot.estimatedWaitSecondsMap.getOrDefault(stationId, 0.0d);
|
}
|
return score;
|
}
|
|
private double calcDeadlockRiskScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
|
if (trafficSnapshot == null || trafficSnapshot.traceRouteList.isEmpty() || stationIdList == null || stationIdList.size() <= 1) {
|
return 0.0d;
|
}
|
List<Integer> candidateFutureStations = distinctPositiveStationIds(stationIdList.subList(1, stationIdList.size()));
|
if (candidateFutureStations.isEmpty()) {
|
return 0.0d;
|
}
|
|
double totalRisk = 0.0d;
|
for (TraceRouteSnapshot routeSnapshot : trafficSnapshot.traceRouteList) {
|
if (routeSnapshot == null) {
|
continue;
|
}
|
OverlapMetrics pendingMetrics = calcOrderedOverlapMetrics(candidateFutureStations, routeSnapshot.pendingStationIds);
|
OverlapMetrics issuedMetrics = calcOrderedOverlapMetrics(candidateFutureStations, routeSnapshot.issuedStationIds);
|
|
totalRisk += pendingMetrics.sequentialRisk * 0.9d;
|
totalRisk += issuedMetrics.sequentialRisk * 1.2d;
|
totalRisk += pendingMetrics.sharedCount * 0.12d;
|
totalRisk += issuedMetrics.sharedCount * 0.18d;
|
|
int currentHitIndex = findFirstOverlapIndex(candidateFutureStations, routeSnapshot.currentStationId);
|
if (currentHitIndex >= 0) {
|
totalRisk += prefixRiskFactor(currentHitIndex) * 1.5d;
|
}
|
}
|
return totalRisk;
|
}
|
|
private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
|
int count = 0;
|
for (Integer stationId : stationIdList) {
|
StationProtocol protocol = statusMap.get(stationId);
|
if (protocol != null && protocol.isRunBlock()) {
|
count++;
|
}
|
}
|
return count;
|
}
|
|
private double calcLoopPenalty(List<Integer> stationIdList, Map<Integer, Double> stationLoopLoadMap) {
|
double maxLoad = 0.0d;
|
for (Integer stationId : stationIdList) {
|
Double load = stationLoopLoadMap.get(stationId);
|
if (load != null && load > maxLoad) {
|
maxLoad = load;
|
}
|
}
|
return maxLoad;
|
}
|
|
private int calcSoftDeviationCount(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
|
List<Integer> preferredPath = getSoftReferencePath(soft);
|
if (preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
|
return 0;
|
}
|
int missingCount = countMissingOrderedStations(stationIdList, preferredPath);
|
if (missingCount > 0) {
|
return missingCount;
|
}
|
if (isFullSoftPreferredPath(stationIdList, preferredPath)) {
|
return countOffPathStations(stationIdList, preferredPath);
|
}
|
return 0;
|
}
|
|
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 List<Integer> getSoftReferencePath(StationPathRuleConfig.SoftPreference soft) {
|
if (soft == null) {
|
return Collections.emptyList();
|
}
|
if (soft.getPreferredPath() != null && !soft.getPreferredPath().isEmpty()) {
|
return soft.getPreferredPath();
|
}
|
if (soft.getKeyStations() != null && !soft.getKeyStations().isEmpty()) {
|
return soft.getKeyStations();
|
}
|
return Collections.emptyList();
|
}
|
|
private boolean containsOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
|
return countMissingOrderedStations(stationIdList, targetStations) == 0;
|
}
|
|
private int countMissingOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
|
if (stationIdList == null || stationIdList.isEmpty() || targetStations == null || targetStations.isEmpty()) {
|
return 0;
|
}
|
int cursor = 0;
|
for (Integer stationId : stationIdList) {
|
Integer expected = targetStations.get(cursor);
|
if (expected != null && expected.equals(stationId)) {
|
cursor++;
|
if (cursor >= targetStations.size()) {
|
return 0;
|
}
|
}
|
}
|
return targetStations.size() - cursor;
|
}
|
|
private boolean isFullSoftPreferredPath(List<Integer> stationIdList, List<Integer> preferredPath) {
|
if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.isEmpty()) {
|
return false;
|
}
|
Integer actualStart = stationIdList.get(0);
|
Integer actualEnd = stationIdList.get(stationIdList.size() - 1);
|
Integer preferredStart = preferredPath.get(0);
|
Integer preferredEnd = preferredPath.get(preferredPath.size() - 1);
|
return (actualStart == null ? preferredStart == null : actualStart.equals(preferredStart))
|
&& (actualEnd == null ? preferredEnd == null : actualEnd.equals(preferredEnd));
|
}
|
|
private int countOffPathStations(List<Integer> stationIdList, List<Integer> preferredPath) {
|
if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.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<List<NavigateNode>> filterNonAutoStationPaths(List<List<NavigateNode>> allList,
|
Map<Integer, StationProtocol> statusMap) {
|
if (allList == null || allList.isEmpty() || statusMap == null || statusMap.isEmpty()) {
|
return allList;
|
}
|
|
List<List<NavigateNode>> result = new ArrayList<>();
|
for (List<NavigateNode> path : allList) {
|
if (path == null || path.isEmpty()) {
|
continue;
|
}
|
if (containsNonAutoStation(path, statusMap)) {
|
continue;
|
}
|
result.add(path);
|
}
|
return result;
|
}
|
|
private boolean containsNonAutoStation(List<NavigateNode> path, Map<Integer, StationProtocol> statusMap) {
|
for (Integer stationId : extractStationIdList(path)) {
|
StationProtocol protocol = statusMap.get(stationId);
|
if (protocol != null && !protocol.isAutoing()) {
|
return true;
|
}
|
}
|
return false;
|
}
|
|
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 LoopMergeGuardContext loadLoopMergeGuardContext() {
|
LoopMergeGuardContext context = new LoopMergeGuardContext();
|
try {
|
if (stationCycleCapacityService == null) {
|
return context;
|
}
|
StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
|
if (capacityVo == null || capacityVo.getLoopList() == null || capacityVo.getLoopList().isEmpty()) {
|
return context;
|
}
|
|
Map<Integer, Set<Integer>> stationGraph = loadUndirectedStationGraph();
|
if (stationGraph.isEmpty()) {
|
return context;
|
}
|
|
for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
|
List<Integer> rawStationIdList = loopVo == null ? Collections.emptyList() : loopVo.getStationIdList();
|
List<Integer> loopStationIdList = distinctPositiveStationIds(rawStationIdList);
|
if (loopStationIdList.size() < 3) {
|
continue;
|
}
|
Set<Integer> loopStationSet = new HashSet<>(loopStationIdList);
|
for (Integer stationId : loopStationSet) {
|
context.loopStationIdSet.add(stationId);
|
Set<Integer> graphNeighborSet = stationGraph.getOrDefault(stationId, Collections.emptySet());
|
Set<Integer> loopNeighborSet = new LinkedHashSet<>();
|
for (Integer neighborStationId : graphNeighborSet) {
|
if (neighborStationId != null && loopStationSet.contains(neighborStationId)) {
|
loopNeighborSet.add(neighborStationId);
|
}
|
}
|
if (!loopNeighborSet.isEmpty()) {
|
context.loopNeighborMap.computeIfAbsent(stationId, key -> new LinkedHashSet<>()).addAll(loopNeighborSet);
|
}
|
}
|
}
|
} catch (Exception ignore) {
|
}
|
return context;
|
}
|
|
private Set<LoopMergeEntry> resolveMandatoryLoopMergeEntrySet(List<List<NavigateNode>> candidatePathList,
|
LoopMergeGuardContext loopMergeGuardContext) {
|
if (candidatePathList == null || candidatePathList.isEmpty()
|
|| loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
|
return Collections.emptySet();
|
}
|
|
Set<LoopMergeEntry> intersectionSet = null;
|
for (List<NavigateNode> path : candidatePathList) {
|
Set<LoopMergeEntry> entrySet = extractLoopMergeEntrySet(path, loopMergeGuardContext);
|
if (intersectionSet == null) {
|
intersectionSet = new HashSet<>(entrySet);
|
} else {
|
intersectionSet.retainAll(entrySet);
|
}
|
if (intersectionSet.isEmpty()) {
|
return Collections.emptySet();
|
}
|
}
|
return intersectionSet == null ? Collections.emptySet() : intersectionSet;
|
}
|
|
private Set<LoopMergeEntry> extractLoopMergeEntrySet(List<NavigateNode> path,
|
LoopMergeGuardContext loopMergeGuardContext) {
|
Set<LoopMergeEntry> result = new HashSet<>();
|
if (path == null || path.size() < 2 || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
|
return result;
|
}
|
|
List<Integer> stationIdList = extractStationIdList(path);
|
for (int i = 1; i < stationIdList.size(); i++) {
|
Integer prevStationId = stationIdList.get(i - 1);
|
Integer currentStationId = stationIdList.get(i);
|
if (prevStationId == null || currentStationId == null) {
|
continue;
|
}
|
if (loopMergeGuardContext.loopStationIdSet.contains(prevStationId)
|
|| !loopMergeGuardContext.loopStationIdSet.contains(currentStationId)) {
|
continue;
|
}
|
result.add(new LoopMergeEntry(prevStationId, currentStationId));
|
}
|
return result;
|
}
|
|
private Map<Integer, Set<Integer>> loadUndirectedStationGraph() {
|
Map<Integer, Set<Integer>> graph = new HashMap<>();
|
List<Integer> levList = loadStationLevList();
|
if (levList.isEmpty()) {
|
return graph;
|
}
|
|
NavigateSolution navigateSolution = new NavigateSolution();
|
for (Integer lev : levList) {
|
if (lev == null) {
|
continue;
|
}
|
List<List<NavigateNode>> stationMap;
|
try {
|
stationMap = navigateSolution.getStationMap(lev);
|
} catch (Exception ignore) {
|
continue;
|
}
|
if (stationMap == null || stationMap.isEmpty()) {
|
continue;
|
}
|
|
for (List<NavigateNode> row : stationMap) {
|
for (NavigateNode node : safeList(row)) {
|
Integer stationId = extractStationId(node);
|
if (stationId == null) {
|
continue;
|
}
|
graph.computeIfAbsent(stationId, key -> new LinkedHashSet<>());
|
List<NavigateNode> nextNodeList = navigateSolution.extend_current_node(stationMap, node);
|
for (NavigateNode nextNode : safeList(nextNodeList)) {
|
Integer nextStationId = extractStationId(nextNode);
|
if (nextStationId == null || stationId.equals(nextStationId)) {
|
continue;
|
}
|
graph.computeIfAbsent(nextStationId, key -> new LinkedHashSet<>());
|
graph.get(stationId).add(nextStationId);
|
graph.get(nextStationId).add(stationId);
|
}
|
}
|
}
|
}
|
return graph;
|
}
|
|
private List<Integer> loadStationLevList() {
|
List<Integer> levList = new ArrayList<>();
|
if (basStationService == null) {
|
return levList;
|
}
|
try {
|
List<BasStation> stationList = basStationService.list(new QueryWrapper<BasStation>().select("station_lev"));
|
Set<Integer> seen = new HashSet<>();
|
for (BasStation station : safeList(stationList)) {
|
Integer lev = station == null ? null : station.getStationLev();
|
if (lev != null && seen.add(lev)) {
|
levList.add(lev);
|
}
|
}
|
Collections.sort(levList);
|
} catch (Exception ignore) {
|
}
|
return levList;
|
}
|
|
private StationTrafficSnapshot loadStationTrafficSnapshot(Map<Integer, StationProtocol> statusMap, Integer currentTaskNo) {
|
StationTrafficSnapshot snapshot = new StationTrafficSnapshot();
|
Map<Integer, Integer> busyMap = new HashMap<>();
|
Map<Integer, Integer> issuedReserveMap = new HashMap<>();
|
Map<Integer, Integer> pendingQueueMap = new HashMap<>();
|
|
if (statusMap != null && !statusMap.isEmpty()) {
|
for (Map.Entry<Integer, StationProtocol> entry : statusMap.entrySet()) {
|
Integer stationId = entry.getKey();
|
StationProtocol protocol = entry.getValue();
|
if (stationId == null || protocol == null) {
|
continue;
|
}
|
if (protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
|
busyMap.put(stationId, 1);
|
}
|
}
|
}
|
|
for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo, statusMap)) {
|
if (traceVo == null) {
|
continue;
|
}
|
List<Integer> pendingStationIds = distinctPositiveStationIds(traceVo.getPendingStationIds());
|
List<Integer> issuedStationIds = distinctPositiveStationIds(traceVo.getLatestIssuedSegmentPath());
|
TraceRouteSnapshot routeSnapshot = new TraceRouteSnapshot();
|
routeSnapshot.taskNo = traceVo.getTaskNo();
|
routeSnapshot.currentStationId = traceVo.getCurrentStationId();
|
routeSnapshot.pendingStationIds = pendingStationIds;
|
routeSnapshot.issuedStationIds = issuedStationIds;
|
snapshot.traceRouteList.add(routeSnapshot);
|
Set<Integer> pendingSet = new HashSet<>(pendingStationIds);
|
for (Integer stationId : issuedStationIds) {
|
if (stationId == null || !pendingSet.contains(stationId)) {
|
continue;
|
}
|
increaseIntMap(issuedReserveMap, stationId, 1);
|
}
|
Set<Integer> issuedSet = new HashSet<>(issuedStationIds);
|
for (Integer stationId : pendingStationIds) {
|
if (stationId == null || issuedSet.contains(stationId)) {
|
continue;
|
}
|
increaseIntMap(pendingQueueMap, stationId, 1);
|
}
|
}
|
|
Set<Integer> stationIdSet = new HashSet<>();
|
stationIdSet.addAll(busyMap.keySet());
|
stationIdSet.addAll(issuedReserveMap.keySet());
|
stationIdSet.addAll(pendingQueueMap.keySet());
|
if (statusMap != null) {
|
stationIdSet.addAll(statusMap.keySet());
|
}
|
|
for (Integer stationId : stationIdSet) {
|
if (stationId == null) {
|
continue;
|
}
|
int busyCount = busyMap.getOrDefault(stationId, 0);
|
int issuedReserveCount = issuedReserveMap.getOrDefault(stationId, 0);
|
int pendingQueueCount = pendingQueueMap.getOrDefault(stationId, 0);
|
boolean runBlock = false;
|
if (statusMap != null) {
|
StationProtocol protocol = statusMap.get(stationId);
|
runBlock = protocol != null && protocol.isRunBlock();
|
}
|
|
int queueDepth = issuedReserveCount + pendingQueueCount;
|
double congestionScore = busyCount * CONGESTION_BUSY_BASE
|
+ issuedReserveCount * CONGESTION_ISSUED_RESERVE_BASE
|
+ pendingQueueCount * CONGESTION_PENDING_QUEUE_BASE
|
+ (runBlock ? CONGESTION_RUN_BLOCK_BASE : 0.0d);
|
double estimatedWaitSeconds = busyCount * WAIT_BUSY_SECONDS
|
+ issuedReserveCount * WAIT_ISSUED_RESERVE_SECONDS
|
+ pendingQueueCount * WAIT_PENDING_QUEUE_SECONDS
|
+ (runBlock ? WAIT_RUN_BLOCK_SECONDS : 0.0d);
|
|
if (queueDepth > 0) {
|
snapshot.queueDepthMap.put(stationId, queueDepth);
|
}
|
if (congestionScore > 0.0d) {
|
snapshot.congestionScoreMap.put(stationId, congestionScore);
|
}
|
if (estimatedWaitSeconds > 0.0d) {
|
snapshot.estimatedWaitSecondsMap.put(stationId, estimatedWaitSeconds);
|
}
|
}
|
return snapshot;
|
}
|
|
private boolean isLoopMergePathAllowed(List<NavigateNode> path,
|
Map<Integer, StationProtocol> statusMap,
|
StationTrafficSnapshot trafficSnapshot,
|
LoopMergeGuardContext loopMergeGuardContext,
|
Set<LoopMergeEntry> mandatoryLoopMergeEntrySet) {
|
if (path == null || path.size() < 2 || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
|
return true;
|
}
|
|
List<Integer> stationIdList = extractStationIdList(path);
|
if (stationIdList.size() < 2) {
|
return true;
|
}
|
|
for (int i = 1; i < stationIdList.size(); i++) {
|
Integer prevStationId = stationIdList.get(i - 1);
|
Integer currentStationId = stationIdList.get(i);
|
if (prevStationId == null || currentStationId == null) {
|
continue;
|
}
|
if (loopMergeGuardContext.loopStationIdSet.contains(prevStationId)
|
|| !loopMergeGuardContext.loopStationIdSet.contains(currentStationId)) {
|
continue;
|
}
|
|
Set<Integer> trunkNeighborSet = loopMergeGuardContext.loopNeighborMap.getOrDefault(currentStationId, Collections.emptySet());
|
if (trunkNeighborSet.size() < 2) {
|
continue;
|
}
|
|
LoopMergeEntry currentEntry = new LoopMergeEntry(prevStationId, currentStationId);
|
for (Integer trunkNeighborStationId : trunkNeighborSet) {
|
if (isStationOccupiedForLoopMerge(trunkNeighborStationId, statusMap, trafficSnapshot)) {
|
return false;
|
}
|
}
|
boolean mandatoryEntry = mandatoryLoopMergeEntrySet != null && mandatoryLoopMergeEntrySet.contains(currentEntry);
|
if (!mandatoryEntry && !isLoopTrunkVeryIdle(currentStationId, loopMergeGuardContext, statusMap, trafficSnapshot)) {
|
return false;
|
}
|
}
|
return true;
|
}
|
|
private boolean isLoopTrunkVeryIdle(Integer mergeStationId,
|
LoopMergeGuardContext loopMergeGuardContext,
|
Map<Integer, StationProtocol> statusMap,
|
StationTrafficSnapshot trafficSnapshot) {
|
if (mergeStationId == null || loopMergeGuardContext == null) {
|
return false;
|
}
|
Set<Integer> guardStationIdSet = collectLoopNeighborWindow(mergeStationId, loopMergeGuardContext, 2);
|
if (guardStationIdSet.isEmpty()) {
|
return false;
|
}
|
for (Integer stationId : guardStationIdSet) {
|
if (isStationOccupiedForLoopMerge(stationId, statusMap, trafficSnapshot)) {
|
return false;
|
}
|
}
|
return true;
|
}
|
|
private Set<Integer> collectLoopNeighborWindow(Integer centerStationId,
|
LoopMergeGuardContext loopMergeGuardContext,
|
int depth) {
|
Set<Integer> visited = new LinkedHashSet<>();
|
if (centerStationId == null || depth < 0 || loopMergeGuardContext == null) {
|
return visited;
|
}
|
|
Set<Integer> frontier = new LinkedHashSet<>();
|
frontier.add(centerStationId);
|
visited.add(centerStationId);
|
for (int step = 0; step < depth; step++) {
|
Set<Integer> nextFrontier = new LinkedHashSet<>();
|
for (Integer stationId : frontier) {
|
for (Integer neighborStationId : loopMergeGuardContext.loopNeighborMap.getOrDefault(stationId, Collections.emptySet())) {
|
if (neighborStationId != null && visited.add(neighborStationId)) {
|
nextFrontier.add(neighborStationId);
|
}
|
}
|
}
|
if (nextFrontier.isEmpty()) {
|
break;
|
}
|
frontier = nextFrontier;
|
}
|
return visited;
|
}
|
|
private boolean isStationOccupiedForLoopMerge(Integer stationId,
|
Map<Integer, StationProtocol> statusMap,
|
StationTrafficSnapshot trafficSnapshot) {
|
if (stationId == null) {
|
return false;
|
}
|
|
StationProtocol protocol = statusMap == null ? null : statusMap.get(stationId);
|
if (protocol != null) {
|
if ((protocol.getTaskNo() != null && protocol.getTaskNo() > 0) || protocol.isRunBlock()) {
|
return true;
|
}
|
}
|
|
if (trafficSnapshot == null) {
|
return false;
|
}
|
if (trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0) > 0) {
|
return true;
|
}
|
|
for (TraceRouteSnapshot routeSnapshot : trafficSnapshot.traceRouteList) {
|
if (routeSnapshot == null) {
|
continue;
|
}
|
if (stationId.equals(routeSnapshot.currentStationId)) {
|
return true;
|
}
|
if (containsStation(routeSnapshot.issuedStationIds, stationId)
|
|| containsStation(routeSnapshot.pendingStationIds, stationId)) {
|
return true;
|
}
|
}
|
return false;
|
}
|
|
private boolean containsStation(List<Integer> stationIdList, Integer stationId) {
|
if (stationId == null || stationIdList == null || stationIdList.isEmpty()) {
|
return false;
|
}
|
for (Integer currentStationId : stationIdList) {
|
if (stationId.equals(currentStationId)) {
|
return true;
|
}
|
}
|
return false;
|
}
|
|
private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo, Map<Integer, StationProtocol> statusMap) {
|
Map<Integer, StationTaskTraceVo> traceMap = new LinkedHashMap<>();
|
if (stationTaskTraceRegistry != null) {
|
try {
|
List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listLatestTraces();
|
if (traceList != null) {
|
for (StationTaskTraceVo traceVo : traceList) {
|
if (!isPlanningActiveTrace(traceVo)) {
|
continue;
|
}
|
if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
|
continue;
|
}
|
if (traceVo.getTaskNo() != null) {
|
traceMap.put(traceVo.getTaskNo(), traceVo);
|
}
|
}
|
}
|
} catch (Exception ignore) {
|
}
|
}
|
Map<Integer, StationTaskTraceVo> fallbackTraceMap = loadFallbackActiveTraceMap(currentTaskNo, statusMap, traceMap.keySet());
|
if (!fallbackTraceMap.isEmpty()) {
|
traceMap.putAll(fallbackTraceMap);
|
}
|
return new ArrayList<>(traceMap.values());
|
}
|
|
private boolean isPlanningActiveTrace(StationTaskTraceVo traceVo) {
|
if (traceVo == null) {
|
return false;
|
}
|
String status = traceVo.getStatus();
|
return StationTaskTraceRegistry.STATUS_WAITING.equals(status)
|
|| StationTaskTraceRegistry.STATUS_RUNNING.equals(status)
|
|| StationTaskTraceRegistry.STATUS_REROUTED.equals(status);
|
}
|
|
private Map<Integer, StationTaskTraceVo> loadFallbackActiveTraceMap(Integer currentTaskNo,
|
Map<Integer, StationProtocol> statusMap,
|
Set<Integer> existingTaskNoSet) {
|
if (basStationOptService == null || statusMap == null || statusMap.isEmpty()) {
|
return Collections.emptyMap();
|
}
|
|
Map<Integer, StationProtocol> activeTaskProtocolMap = new LinkedHashMap<>();
|
for (StationProtocol protocol : statusMap.values()) {
|
if (protocol == null || protocol.getTaskNo() == null || protocol.getTaskNo() <= 0) {
|
continue;
|
}
|
if (!Boolean.TRUE.equals(protocol.isLoading())) {
|
continue;
|
}
|
if (currentTaskNo != null && currentTaskNo.equals(protocol.getTaskNo())) {
|
continue;
|
}
|
if (existingTaskNoSet != null && existingTaskNoSet.contains(protocol.getTaskNo())) {
|
continue;
|
}
|
activeTaskProtocolMap.putIfAbsent(protocol.getTaskNo(), protocol);
|
}
|
if (activeTaskProtocolMap.isEmpty()) {
|
return Collections.emptyMap();
|
}
|
|
List<Integer> taskNoList = new ArrayList<>(activeTaskProtocolMap.keySet());
|
int limit = Math.max(50, taskNoList.size() * 8);
|
List<BasStationOpt> optList;
|
try {
|
optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
|
.select("id", "task_no", "send_time", "command", "mode", "send", "target_station_id")
|
.in("task_no", taskNoList)
|
.eq("send", 1)
|
.orderByDesc("send_time")
|
.last("limit " + limit));
|
} catch (Exception ignore) {
|
return Collections.emptyMap();
|
}
|
if (optList == null || optList.isEmpty()) {
|
return Collections.emptyMap();
|
}
|
|
Map<Integer, List<FallbackMoveCommand>> fallbackCommandMap = new LinkedHashMap<>();
|
for (BasStationOpt opt : optList) {
|
FallbackMoveCommand moveCommand = parseFallbackMoveCommand(opt);
|
if (moveCommand == null || moveCommand.taskNo == null) {
|
continue;
|
}
|
if (!activeTaskProtocolMap.containsKey(moveCommand.taskNo)) {
|
continue;
|
}
|
fallbackCommandMap.computeIfAbsent(moveCommand.taskNo, key -> new ArrayList<>()).add(moveCommand);
|
}
|
|
Map<Integer, StationTaskTraceVo> result = new LinkedHashMap<>();
|
for (Map.Entry<Integer, StationProtocol> entry : activeTaskProtocolMap.entrySet()) {
|
Integer taskNo = entry.getKey();
|
StationProtocol protocol = entry.getValue();
|
StationTaskTraceVo fallbackTrace = buildFallbackTraceVo(taskNo, protocol, fallbackCommandMap.get(taskNo));
|
if (fallbackTrace != null) {
|
result.put(taskNo, fallbackTrace);
|
}
|
}
|
return result;
|
}
|
|
private FallbackMoveCommand parseFallbackMoveCommand(BasStationOpt opt) {
|
if (opt == null || opt.getTaskNo() == null || opt.getTaskNo() <= 0) {
|
return null;
|
}
|
try {
|
StationCommand command = JSON.parseObject(opt.getCommand(), StationCommand.class);
|
if (command == null || command.getCommandType() != StationCommandType.MOVE) {
|
return null;
|
}
|
List<Integer> navigatePath = distinctPositiveStationIds(command.getNavigatePath());
|
if (navigatePath.isEmpty()) {
|
return null;
|
}
|
FallbackMoveCommand item = new FallbackMoveCommand();
|
item.taskNo = opt.getTaskNo();
|
item.traceVersion = command.getTraceVersion();
|
item.segmentNo = command.getSegmentNo();
|
item.segmentCount = command.getSegmentCount();
|
item.stationId = command.getStationId();
|
item.targetStaNo = command.getTargetStaNo();
|
item.navigatePath = navigatePath;
|
item.sendTime = opt.getSendTime();
|
return item;
|
} catch (Exception ignore) {
|
return null;
|
}
|
}
|
|
private StationTaskTraceVo buildFallbackTraceVo(Integer taskNo,
|
StationProtocol protocol,
|
List<FallbackMoveCommand> commandList) {
|
if (taskNo == null || protocol == null || commandList == null || commandList.isEmpty()) {
|
return null;
|
}
|
|
Integer latestTraceVersion = null;
|
long latestTimestamp = 0L;
|
for (FallbackMoveCommand item : commandList) {
|
if (item == null) {
|
continue;
|
}
|
if (item.traceVersion != null && (latestTraceVersion == null || item.traceVersion > latestTraceVersion)) {
|
latestTraceVersion = item.traceVersion;
|
}
|
long ts = item.sendTime == null ? 0L : item.sendTime.getTime();
|
if (ts > latestTimestamp) {
|
latestTimestamp = ts;
|
}
|
}
|
|
List<FallbackMoveCommand> sameTraceCommandList = new ArrayList<>();
|
for (FallbackMoveCommand item : commandList) {
|
if (item == null) {
|
continue;
|
}
|
if (latestTraceVersion == null || latestTraceVersion.equals(item.traceVersion)) {
|
sameTraceCommandList.add(item);
|
}
|
}
|
sameTraceCommandList.sort((a, b) -> {
|
int av = a.segmentNo == null ? Integer.MAX_VALUE : a.segmentNo;
|
int bv = b.segmentNo == null ? Integer.MAX_VALUE : b.segmentNo;
|
if (av != bv) {
|
return Integer.compare(av, bv);
|
}
|
long at = a.sendTime == null ? 0L : a.sendTime.getTime();
|
long bt = b.sendTime == null ? 0L : b.sendTime.getTime();
|
return Long.compare(at, bt);
|
});
|
|
List<Integer> issuedPath = new ArrayList<>();
|
List<StationTaskTraceSegmentVo> segmentList = new ArrayList<>();
|
FallbackMoveCommand latestCommand = null;
|
for (FallbackMoveCommand item : sameTraceCommandList) {
|
if (item == null || item.navigatePath == null || item.navigatePath.isEmpty()) {
|
continue;
|
}
|
appendMergedPath(issuedPath, item.navigatePath);
|
segmentList.add(toTraceSegment(item));
|
if (latestCommand == null || compareFallbackCommand(item, latestCommand) > 0) {
|
latestCommand = item;
|
}
|
}
|
if (issuedPath.isEmpty()) {
|
return null;
|
}
|
|
Integer currentStationId = protocol.getStationId();
|
List<Integer> passedStationIds = new ArrayList<>();
|
List<Integer> pendingStationIds = new ArrayList<>();
|
if (currentStationId != null) {
|
int currentIndex = issuedPath.indexOf(currentStationId);
|
if (currentIndex >= 0) {
|
passedStationIds = copyIntegerSubList(issuedPath, 0, currentIndex);
|
pendingStationIds = copyIntegerSubList(issuedPath, currentIndex + 1, issuedPath.size());
|
} else {
|
pendingStationIds = new ArrayList<>(issuedPath);
|
}
|
} else {
|
pendingStationIds = new ArrayList<>(issuedPath);
|
}
|
|
StationTaskTraceVo vo = new StationTaskTraceVo();
|
vo.setTaskNo(taskNo);
|
vo.setThreadImpl("DB_FALLBACK");
|
vo.setStatus(StationTaskTraceRegistry.STATUS_RUNNING);
|
vo.setTraceVersion(latestTraceVersion == null ? 1 : latestTraceVersion);
|
vo.setStartStationId(issuedPath.isEmpty() ? null : issuedPath.get(0));
|
vo.setCurrentStationId(currentStationId);
|
vo.setFinalTargetStationId(protocol.getTargetStaNo() != null ? protocol.getTargetStaNo()
|
: latestCommand == null ? null : latestCommand.targetStaNo);
|
vo.setBlockedStationId(null);
|
vo.setFullPathStationIds(new ArrayList<>(issuedPath));
|
vo.setIssuedStationIds(new ArrayList<>(issuedPath));
|
vo.setPassedStationIds(passedStationIds);
|
vo.setPendingStationIds(pendingStationIds);
|
vo.setLatestIssuedSegmentPath(latestCommand == null ? Collections.emptyList() : new ArrayList<>(latestCommand.navigatePath));
|
vo.setSegmentList(segmentList);
|
vo.setIssuedSegmentCount(segmentList.size());
|
vo.setTotalSegmentCount(latestCommand == null || latestCommand.segmentCount == null
|
? segmentList.size()
|
: latestCommand.segmentCount);
|
vo.setUpdatedAt(latestTimestamp > 0L ? latestTimestamp : System.currentTimeMillis());
|
vo.setEvents(Collections.emptyList());
|
return vo;
|
}
|
|
private int compareFallbackCommand(FallbackMoveCommand a, FallbackMoveCommand b) {
|
int av = a == null || a.segmentNo == null ? Integer.MIN_VALUE : a.segmentNo;
|
int bv = b == null || b.segmentNo == null ? Integer.MIN_VALUE : b.segmentNo;
|
if (av != bv) {
|
return Integer.compare(av, bv);
|
}
|
long at = a == null || a.sendTime == null ? 0L : a.sendTime.getTime();
|
long bt = b == null || b.sendTime == null ? 0L : b.sendTime.getTime();
|
return Long.compare(at, bt);
|
}
|
|
private StationTaskTraceSegmentVo toTraceSegment(FallbackMoveCommand item) {
|
StationTaskTraceSegmentVo segmentVo = new StationTaskTraceSegmentVo();
|
if (item == null) {
|
return segmentVo;
|
}
|
segmentVo.setSegmentNo(item.segmentNo);
|
segmentVo.setSegmentCount(item.segmentCount);
|
segmentVo.setStationId(item.stationId);
|
segmentVo.setTargetStationId(item.targetStaNo);
|
segmentVo.setSegmentPath(item.navigatePath == null ? Collections.emptyList() : new ArrayList<>(item.navigatePath));
|
segmentVo.setIssued(Boolean.TRUE);
|
return segmentVo;
|
}
|
|
private void appendMergedPath(List<Integer> target, List<Integer> source) {
|
if (target == null || source == null || source.isEmpty()) {
|
return;
|
}
|
if (target.isEmpty()) {
|
target.addAll(source);
|
return;
|
}
|
int overlap = 0;
|
int maxOverlap = Math.min(target.size(), source.size());
|
for (int size = maxOverlap; size >= 1; size--) {
|
boolean matched = true;
|
for (int i = 0; i < size; i++) {
|
Integer left = target.get(target.size() - size + i);
|
Integer right = source.get(i);
|
if (left == null || !left.equals(right)) {
|
matched = false;
|
break;
|
}
|
}
|
if (matched) {
|
overlap = size;
|
break;
|
}
|
}
|
for (int i = overlap; i < source.size(); i++) {
|
Integer stationId = source.get(i);
|
if (stationId != null) {
|
target.add(stationId);
|
}
|
}
|
}
|
|
private List<Integer> copyIntegerSubList(List<Integer> source, int fromIndex, int toIndex) {
|
if (source == null || source.isEmpty()) {
|
return new ArrayList<>();
|
}
|
int from = Math.max(0, fromIndex);
|
int to = Math.min(source.size(), Math.max(from, toIndex));
|
List<Integer> result = new ArrayList<>();
|
for (int i = from; i < to; i++) {
|
Integer value = source.get(i);
|
if (value != null) {
|
result.add(value);
|
}
|
}
|
return result;
|
}
|
|
private List<Integer> distinctPositiveStationIds(List<Integer> stationIdList) {
|
if (stationIdList == null || stationIdList.isEmpty()) {
|
return Collections.emptyList();
|
}
|
List<Integer> result = new ArrayList<>();
|
Set<Integer> seen = new HashSet<>();
|
for (Integer stationId : stationIdList) {
|
if (stationId == null || stationId <= 0) {
|
continue;
|
}
|
if (seen.add(stationId)) {
|
result.add(stationId);
|
}
|
}
|
return result;
|
}
|
|
private void increaseIntMap(Map<Integer, Integer> target, Integer stationId, int delta) {
|
if (target == null || stationId == null || delta == 0) {
|
return;
|
}
|
target.put(stationId, target.getOrDefault(stationId, 0) + delta);
|
}
|
|
private OverlapMetrics calcOrderedOverlapMetrics(List<Integer> candidateStations, List<Integer> routeStations) {
|
OverlapMetrics metrics = new OverlapMetrics();
|
if (candidateStations == null || candidateStations.isEmpty() || routeStations == null || routeStations.isEmpty()) {
|
return metrics;
|
}
|
|
Map<Integer, Integer> routeIndexMap = new HashMap<>();
|
for (int i = 0; i < routeStations.size(); i++) {
|
Integer stationId = routeStations.get(i);
|
if (stationId != null && !routeIndexMap.containsKey(stationId)) {
|
routeIndexMap.put(stationId, i);
|
}
|
}
|
if (routeIndexMap.isEmpty()) {
|
return metrics;
|
}
|
|
for (int i = 0; i < candidateStations.size(); i++) {
|
Integer stationId = candidateStations.get(i);
|
if (stationId != null && routeIndexMap.containsKey(stationId)) {
|
metrics.sharedCount++;
|
}
|
}
|
|
for (int candidateStart = 0; candidateStart < candidateStations.size(); candidateStart++) {
|
Integer firstStation = candidateStations.get(candidateStart);
|
Integer routeStart = routeIndexMap.get(firstStation);
|
if (routeStart == null) {
|
continue;
|
}
|
|
int length = 1;
|
int prevRouteIndex = routeStart;
|
for (int j = candidateStart + 1; j < candidateStations.size(); j++) {
|
Integer nextRouteIndex = routeIndexMap.get(candidateStations.get(j));
|
if (nextRouteIndex == null || nextRouteIndex.intValue() != prevRouteIndex + 1) {
|
break;
|
}
|
length++;
|
prevRouteIndex = nextRouteIndex;
|
}
|
|
double risk = length * prefixRiskFactor(candidateStart);
|
if (risk > metrics.sequentialRisk) {
|
metrics.sequentialRisk = risk;
|
}
|
}
|
return metrics;
|
}
|
|
private int findFirstOverlapIndex(List<Integer> stationIdList, Integer targetStationId) {
|
if (stationIdList == null || stationIdList.isEmpty() || targetStationId == null) {
|
return -1;
|
}
|
for (int i = 0; i < stationIdList.size(); i++) {
|
Integer stationId = stationIdList.get(i);
|
if (targetStationId.equals(stationId)) {
|
return i;
|
}
|
}
|
return -1;
|
}
|
|
private double prefixRiskFactor(int candidateIndex) {
|
if (candidateIndex < 0) {
|
return 0.0d;
|
}
|
if (candidateIndex >= DEADLOCK_PREFIX_LOOKAHEAD) {
|
return 0.15d;
|
}
|
return (double) (DEADLOCK_PREFIX_LOOKAHEAD - candidateIndex) / (double) DEADLOCK_PREFIX_LOOKAHEAD;
|
}
|
|
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 passOtherOutStationCount;
|
private double congestionScore;
|
private double queueDepthScore;
|
private double estimatedWaitSeconds;
|
private double deadlockRiskScore;
|
private int runBlockCount;
|
private int softDeviationCount;
|
private double loopPenalty;
|
private double staticCost;
|
private double dynamicCost;
|
}
|
|
private static class StationTrafficSnapshot {
|
private final Map<Integer, Double> congestionScoreMap = new HashMap<>();
|
private final Map<Integer, Integer> queueDepthMap = new HashMap<>();
|
private final Map<Integer, Double> estimatedWaitSecondsMap = new HashMap<>();
|
private final List<TraceRouteSnapshot> traceRouteList = new ArrayList<>();
|
}
|
|
private static class TraceRouteSnapshot {
|
private Integer taskNo;
|
private Integer currentStationId;
|
private List<Integer> pendingStationIds = Collections.emptyList();
|
private List<Integer> issuedStationIds = Collections.emptyList();
|
}
|
|
private static class OverlapMetrics {
|
private int sharedCount;
|
private double sequentialRisk;
|
}
|
|
private static class FallbackMoveCommand {
|
private Integer taskNo;
|
private Integer traceVersion;
|
private Integer segmentNo;
|
private Integer segmentCount;
|
private Integer stationId;
|
private Integer targetStaNo;
|
private List<Integer> navigatePath = Collections.emptyList();
|
private Date sendTime;
|
}
|
|
private static class LoopMergeGuardContext {
|
private final Set<Integer> loopStationIdSet = new HashSet<>();
|
private final Map<Integer, Set<Integer>> loopNeighborMap = new HashMap<>();
|
}
|
|
private static class LoopMergeEntry {
|
private final Integer fromStationId;
|
private final Integer toStationId;
|
|
private LoopMergeEntry(Integer fromStationId, Integer toStationId) {
|
this.fromStationId = fromStationId;
|
this.toStationId = toStationId;
|
}
|
|
@Override
|
public boolean equals(Object obj) {
|
if (this == obj) {
|
return true;
|
}
|
if (!(obj instanceof LoopMergeEntry)) {
|
return false;
|
}
|
LoopMergeEntry other = (LoopMergeEntry) obj;
|
return (fromStationId == null ? other.fromStationId == null : fromStationId.equals(other.fromStationId))
|
&& (toStationId == null ? other.toStationId == null : toStationId.equals(other.toStationId));
|
}
|
|
@Override
|
public int hashCode() {
|
int result = fromStationId == null ? 0 : fromStationId.hashCode();
|
result = 31 * result + (toStationId == null ? 0 : toStationId.hashCode());
|
return result;
|
}
|
}
|
|
private static class PathGlobalPolicy {
|
private double lenWeightFactor = 1.0d;
|
private double congWeightFactor = 1.0d;
|
private double passOtherOutStationPenaltyWeight = 0.0d;
|
private boolean forceSkipPassOtherOutStation = false;
|
}
|
private PathGlobalPolicy loadPathGlobalPolicy(StationPathProfileConfig profileConfig) {
|
PathGlobalPolicy weights = new PathGlobalPolicy();
|
StationPathProfileConfig source = profileConfig == null ? StationPathProfileConfig.defaultConfig() : profileConfig;
|
double lenWeightPercent = safeDouble(source.getStationPathLenWeightPercent(), 50.0d);
|
double congWeightPercent = safeDouble(source.getStationPathCongWeightPercent(), 50.0d);
|
double passOtherOutStationWeightPercent = safeDouble(source.getStationPathPassOtherOutStationWeightPercent(), 100.0d);
|
weights.forceSkipPassOtherOutStation = Boolean.TRUE.equals(source.getStationPathPassOtherOutStationForceSkip());
|
|
lenWeightPercent = Math.max(lenWeightPercent, 0.0d);
|
congWeightPercent = Math.max(congWeightPercent, 0.0d);
|
passOtherOutStationWeightPercent = Math.max(passOtherOutStationWeightPercent, 0.0d);
|
double weightSum = lenWeightPercent + congWeightPercent;
|
if (weightSum <= 0) {
|
weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
|
return weights;
|
}
|
|
weights.lenWeightFactor = (lenWeightPercent / weightSum) * 2.0d;
|
weights.congWeightFactor = (congWeightPercent / weightSum) * 2.0d;
|
weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
|
return weights;
|
}
|
|
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;
|
}
|
|
//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;
|
}
|
}
|
