#

Junjie

12 小时以前 103ca74d9b67ce4f766b5f77451741a76fa696b9

 src/main/java/com/zy/common/utils/NavigateUtils.java

@@ -4,6 +4,7 @@
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
@@ -72,108 +73,82 @@
    private StationTaskTraceRegistry stationTaskTraceRegistry;

    public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
        return calcByStationId(startStationId, endStationId, null);
        return calcByStationId(startStationId, endStationId, null, null, false);
    }

    public synchronized List<NavigateNode> calcByStationId(Integer startStationId,
                                                           Integer endStationId,
                                                           Double pathLenFactor) {
        return calcByStationId(startStationId, endStationId, null, pathLenFactor, false);
    }

    public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId, Integer currentTaskNo) {
        BasStation startStation = basStationService.getById(startStationId);
        if (startStation == null) {
            throw new CoolException("未找到该 起点 对应的站点数据");
        }
        Integer lev = startStation.getStationLev();
        return calcByStationId(startStationId, endStationId, currentTaskNo, null, false);
    }

        NavigateSolution navigateSolution = new NavigateSolution();
        List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
    public synchronized List<NavigateNode> calcByStationId(Integer startStationId,
                                                           Integer endStationId,
                                                           Integer currentTaskNo,
                                                           Double pathLenFactor) {
        return calcByStationId(startStationId, endStationId, currentTaskNo, pathLenFactor, false);
    }

        NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
        if (startNode == null) {
            throw new CoolException("未找到该 起点 对应的节点");
    public synchronized List<NavigateNode> calcReachablePathByStationId(Integer startStationId, Integer endStationId) {
        return calcByStationId(startStationId, endStationId, null, null, true);
    }

    public synchronized List<List<NavigateNode>> calcCandidatePathByStationId(Integer startStationId,
                                                                              Integer endStationId,
                                                                              Integer currentTaskNo) {
        return calcCandidatePathByStationId(startStationId, endStationId, currentTaskNo, null);
    }

    public synchronized List<List<NavigateNode>> calcCandidatePathByStationId(Integer startStationId,
                                                                              Integer endStationId,
                                                                              Integer currentTaskNo,
                                                                              Double pathLenFactor) {
        StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
        if (context.allList.isEmpty()) {
            return new ArrayList<>();
        }

        NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
        if (endNode == null) {
            throw new CoolException("未找到该 终点 对应的节点");
        }

        StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
        StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
                ? StationPathProfileConfig.defaultConfig()
                : resolvedPolicy.getProfileConfig();

        long startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
        int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
        int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
        int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
        List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
                stationMap,
                startNode,
                endNode,
                calcMaxDepth,
                calcMaxPaths,
                calcMaxCost,
                guideStationSequence
        List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(
                context.allList,
                context.resolvedPolicy,
                currentTaskNo,
                pathLenFactor,
                startStationId,
                endStationId
        );
        if (allList.isEmpty()) {
//            throw new CoolException("未找到该路径");
            return new ArrayList<>();
        }
        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        allList = filterNonAutoStationPaths(allList, statusMap);
        if (allList.isEmpty()) {
            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);
            return new ArrayList<>();
        }
        News.info("[WCS Debug] 站点路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);
        return normalizeCandidatePaths(orderedPathList);
    }

        startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径权重开始分析,startStationId={},endStationId={}", startStationId, endStationId);
        List<NavigateNode> list = findStationBestPathTwoStage(allList, resolvedPolicy, currentTaskNo);
        News.info("[WCS Debug] 站点路径权重分析完成，耗时：{}ms", System.currentTimeMillis() - startTime);

        //去重
        HashSet<Integer> set = new HashSet<>();
        List<NavigateNode> fitlerList = new ArrayList<>();
        for (NavigateNode navigateNode : list) {
            JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
            if (valuObject.containsKey("rgvCalcFlag")) {
    public synchronized Map<Integer, Set<Integer>> loadUndirectedStationGraphSnapshot() {
        Map<Integer, Set<Integer>> graph = loadUndirectedStationGraph();
        Map<Integer, Set<Integer>> snapshot = new HashMap<>();
        for (Map.Entry<Integer, Set<Integer>> entry : graph.entrySet()) {
            Integer stationId = entry.getKey();
            if (stationId == null) {
                continue;
            }
            if (set.add(valuObject.getInteger("stationId"))) {
                fitlerList.add(navigateNode);
            }
            snapshot.put(stationId, new LinkedHashSet<>(entry.getValue() == null ? Collections.emptySet() : entry.getValue()));
        }
        return snapshot;
    }

        for (int i = 0; i < fitlerList.size(); i++) {
            NavigateNode currentNode = fitlerList.get(i);
            currentNode.setIsInflectionPoint(false);
            currentNode.setIsLiftTransferPoint(false);

            try {
                JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
                if (valueObject != null) {
                    Object isLiftTransfer = valueObject.get("isLiftTransfer");
                    if (isLiftTransfer != null) {
                        String isLiftTransferStr = isLiftTransfer.toString();
                        if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
                            currentNode.setIsLiftTransferPoint(true);
                        }
                    }
                }
            } catch (Exception ignore) {}

            NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
            NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;

            HashMap<String, Object> result = searchInflectionPoint(currentNode, nextNode, prevNode);
            if (Boolean.parseBoolean(result.get("result").toString())) {
                currentNode.setIsInflectionPoint(true);
                currentNode.setDirection(result.get("direction").toString());
            }
    private synchronized List<NavigateNode> calcByStationId(Integer startStationId,
                                                            Integer endStationId,
                                                            Integer currentTaskNo,
                                                            Double pathLenFactor,
                                                            boolean reachabilityOnly) {
        StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
        if (context.allList.isEmpty()) {
            return new ArrayList<>();
        }

        return fitlerList;
        List<NavigateNode> list = reachabilityOnly
                ? findStationReachablePath(context.allList, context.resolvedPolicy, startStationId, endStationId)
                : findStationBestPathTwoStage(context.allList, context.resolvedPolicy, currentTaskNo, pathLenFactor, startStationId, endStationId);
        return normalizeStationPath(list);
    }

    public synchronized List<NavigateNode> calcByTrackSiteNo(int lev, Integer startTrackSiteNo, Integer endTrackSiteNo) {
@@ -287,9 +262,56 @@
        return new StationPathResolvedPolicy();
    }

    private List<NavigateNode> findStationReachablePath(List<List<NavigateNode>> allList,
                                                        StationPathResolvedPolicy resolvedPolicy,
                                                        Integer startStationId,
                                                        Integer endStationId) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();
        }

        StationPathRuleConfig ruleConfig = resolvedPolicy.getRuleConfig() == null
                ? new StationPathRuleConfig()
                : resolvedPolicy.getRuleConfig();

        List<List<NavigateNode>> filteredCandidates = applyRuleFilters(allList, ruleConfig, true);
        if (filteredCandidates.isEmpty() && hasWaypoint(ruleConfig) && !strictWaypoint(ruleConfig)) {
            filteredCandidates = applyRuleFilters(allList, ruleConfig, false);
            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");
        }
        if (filteredCandidates.isEmpty()) {
            if (resolvedPolicy.matchedRule()) {
                News.warn("站点路径规则命中但无可达路径，ruleCode={},startStationId={},endStationId={}",
                        resolvedPolicy.getRuleEntity() == null ? "" : resolvedPolicy.getRuleEntity().getRuleCode(),
                        startStationId, endStationId);
                return new ArrayList<>();
            }
            filteredCandidates = allList;
        }

        filteredCandidates.sort((left, right) -> compareReachabilityPath(left, right));
        return filteredCandidates.isEmpty() ? new ArrayList<>() : filteredCandidates.get(0);
    }

    private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
                                                           StationPathResolvedPolicy resolvedPolicy,
                                                           Integer currentTaskNo) {
                                                           Integer currentTaskNo,
                                                           Double pathLenFactor,
                                                           Integer startStationId,
                                                           Integer endStationId) {
        List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(allList, resolvedPolicy, currentTaskNo, pathLenFactor, startStationId, endStationId);
        if (orderedPathList.isEmpty()) {
            return new ArrayList<>();
        }
        return orderedPathList.get(0);
    }

    private List<List<NavigateNode>> orderStationPathCandidates(List<List<NavigateNode>> allList,
                                                                StationPathResolvedPolicy resolvedPolicy,
                                                                Integer currentTaskNo,
                                                                Double pathLenFactor,
                                                                Integer startStationId,
                                                                Integer endStationId) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();
        }
@@ -328,11 +350,18 @@
        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
        StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
        LoopMergeGuardContext loopMergeGuardContext = loadLoopMergeGuardContext();
        Set<LoopMergeEntry> mandatoryLoopMergeEntrySet = resolveMandatoryLoopMergeEntrySet(filteredCandidates, loopMergeGuardContext);
        Set<Integer> outStationIdSet = loadAllOutStationIdSet();
        List<PathCandidateMetrics> metricsList = new ArrayList<>();
        int skippedByOtherOutStation = 0;
        int skippedByLoopMergeGuard = 0;
        for (List<NavigateNode> path : filteredCandidates) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            if (!isLoopMergePathAllowed(path, statusMap, trafficSnapshot, loopMergeGuardContext, mandatoryLoopMergeEntrySet)) {
                skippedByLoopMergeGuard++;
                continue;
            }
            PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
@@ -345,13 +374,16 @@
        if (metricsList.isEmpty()) {
            if (globalPolicy.forceSkipPassOtherOutStation && skippedByOtherOutStation > 0) {
                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={}",
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
                        startStationId, endStationId);
            } else if (skippedByLoopMergeGuard > 0) {
                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={}",
                        startStationId, endStationId);
            }
            return new ArrayList<>();
        }

        metricsList.sort((a, b) -> compareDouble(a.staticCost, b.staticCost, a.turnCount, b.turnCount, a.pathLen, b.pathLen));
        applyPathLengthPreference(metricsList, profileConfig, globalPolicy, pathLenFactor);
        metricsList.sort((a, b) -> compareStaticCandidateMetrics(a, b, pathLenFactor));
        PathCandidateMetrics preferred = metricsList.get(0);
        int maxLen = (int) Math.ceil(preferred.pathLen * safeDouble(profileConfig.getS1MaxLenRatio(), 1.15d));
        int maxTurns = preferred.turnCount + safeInt(profileConfig.getS1MaxTurnDiff(), 1);
@@ -367,12 +399,41 @@
        }

        int topK = safeInt(profileConfig.getS1TopK(), 5);
        if (topK > 0 && stage1Selected.size() > topK) {
            stage1Selected = new ArrayList<>(stage1Selected.subList(0, topK));
        List<PathCandidateMetrics> primaryMetrics = new ArrayList<>(stage1Selected);
        List<PathCandidateMetrics> secondaryMetrics = new ArrayList<>();
        if (topK > 0 && primaryMetrics.size() > topK) {
            secondaryMetrics.addAll(primaryMetrics.subList(topK, primaryMetrics.size()));
            primaryMetrics = new ArrayList<>(primaryMetrics.subList(0, topK));
        }

        stage1Selected.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
        return stage1Selected.get(0).path;
        primaryMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));
        secondaryMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));

        List<PathCandidateMetrics> remainingMetrics = new ArrayList<>();
        for (PathCandidateMetrics metrics : metricsList) {
            if (!stage1Selected.contains(metrics)) {
                remainingMetrics.add(metrics);
            }
        }
        remainingMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));

        List<List<NavigateNode>> orderedPathList = new ArrayList<>();
        appendCandidatePathList(orderedPathList, primaryMetrics);
        appendCandidatePathList(orderedPathList, secondaryMetrics);
        appendCandidatePathList(orderedPathList, remainingMetrics);
        return orderedPathList;
    }

    private void appendCandidatePathList(List<List<NavigateNode>> orderedPathList,
                                         List<PathCandidateMetrics> metricsList) {
        if (orderedPathList == null || metricsList == null) {
            return;
        }
        for (PathCandidateMetrics metrics : metricsList) {
            if (metrics != null && metrics.path != null && !metrics.path.isEmpty()) {
                orderedPathList.add(metrics.path);
            }
        }
    }

    private List<List<NavigateNode>> applyRuleFilters(List<List<NavigateNode>> allList,
@@ -625,9 +686,9 @@
        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
        metrics.baseLengthWeight = safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor;
        metrics.otherStaticCost =
                safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
                        + safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
                        + passOtherOutStationPenaltyWeight * metrics.passOtherOutStationCount
                        + softDeviationWeight * metrics.softDeviationCount;
@@ -658,6 +719,115 @@
            }
        }
        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 void applyPathLengthPreference(List<PathCandidateMetrics> metricsList,
                                           StationPathProfileConfig profileConfig,
                                           PathGlobalPolicy globalPolicy,
                                           Double pathLenFactor) {
        if (metricsList == null || metricsList.isEmpty()) {
            return;
        }
        double normalizedFactor = normalizePathLenFactor(pathLenFactor);
        int minPathLen = Integer.MAX_VALUE;
        int maxPathLen = Integer.MIN_VALUE;
        for (PathCandidateMetrics metrics : metricsList) {
            if (metrics == null) {
                continue;
            }
            minPathLen = Math.min(minPathLen, metrics.pathLen);
            maxPathLen = Math.max(maxPathLen, metrics.pathLen);
        }
        if (minPathLen == Integer.MAX_VALUE || maxPathLen == Integer.MIN_VALUE) {
            return;
        }
        double targetPathLen = normalizedFactor <= 0.0d || maxPathLen <= minPathLen
                ? minPathLen
                : minPathLen + normalizedFactor * (maxPathLen - minPathLen);
        for (PathCandidateMetrics metrics : metricsList) {
            if (metrics == null) {
                continue;
            }
            metrics.pathLenPreferenceDistance = normalizedFactor <= 0.0d
                    ? metrics.pathLen
                    : Math.abs(metrics.pathLen - targetPathLen);
            metrics.staticCost = metrics.baseLengthWeight * metrics.pathLenPreferenceDistance + metrics.otherStaticCost;
        }
    }

    private int compareStaticCandidateMetrics(PathCandidateMetrics left,
                                              PathCandidateMetrics right,
                                              Double pathLenFactor) {
        if (left == right) {
            return 0;
        }
        if (left == null) {
            return 1;
        }
        if (right == null) {
            return -1;
        }
        int result = Double.compare(left.staticCost, right.staticCost);
        if (result != 0) {
            return result;
        }
        result = Double.compare(left.pathLenPreferenceDistance, right.pathLenPreferenceDistance);
        if (result != 0) {
            return result;
        }
        result = Integer.compare(left.turnCount, right.turnCount);
        if (result != 0) {
            return result;
        }
        return comparePathLenTie(left.pathLen, right.pathLen, pathLenFactor);
    }

    private int compareDynamicCandidateMetrics(PathCandidateMetrics left,
                                               PathCandidateMetrics right,
                                               Double pathLenFactor) {
        if (left == right) {
            return 0;
        }
        if (left == null) {
            return 1;
        }
        if (right == null) {
            return -1;
        }
        int result = Double.compare(left.dynamicCost, right.dynamicCost);
        if (result != 0) {
            return result;
        }
        result = Double.compare(left.pathLenPreferenceDistance, right.pathLenPreferenceDistance);
        if (result != 0) {
            return result;
        }
        result = comparePathLenTie(left.pathLen, right.pathLen, pathLenFactor);
        if (result != 0) {
            return result;
        }
        return Integer.compare(left.turnCount, right.turnCount);
    }

    private int comparePathLenTie(int leftPathLen, int rightPathLen, Double pathLenFactor) {
        double normalizedFactor = normalizePathLenFactor(pathLenFactor);
        if (normalizedFactor <= 0.0d) {
            return Integer.compare(leftPathLen, rightPathLen);
        }
        if (normalizedFactor >= 0.5d) {
            return Integer.compare(rightPathLen, leftPathLen);
        }
        return Integer.compare(leftPathLen, rightPathLen);
    }

    private int countLiftTransferCount(List<NavigateNode> path) {
@@ -936,6 +1106,158 @@
        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<>();
@@ -1025,6 +1347,110 @@
            }
        }
        return snapshot;
    }

    private boolean isLoopMergePathAllowed(List<NavigateNode> path,
                                           Map<Integer, StationProtocol> statusMap,
                                           StationTrafficSnapshot trafficSnapshot,
                                           LoopMergeGuardContext loopMergeGuardContext,
                                           Set<LoopMergeEntry> mandatoryLoopMergeEntrySet) {
        // 环线并入保护已停用：允许候选路径直接参与后续评分。
        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) {
@@ -1451,12 +1877,186 @@
        return value == null ? defaultValue : value;
    }

    private double normalizePathLenFactor(Double pathLenFactor) {
        if (pathLenFactor == null) {
            return 0.0d;
        }
        if (pathLenFactor < 0.0d) {
            return 0.0d;
        }
        if (pathLenFactor > 1.0d) {
            return 1.0d;
        }
        return pathLenFactor;
    }

    private boolean notBlank(String text) {
        return text != null && !text.trim().isEmpty();
    }

    private StationPathSearchContext buildStationPathSearchContext(Integer startStationId, Integer endStationId) {
        BasStation startStation = basStationService.getById(startStationId);
        if (startStation == null) {
            throw new CoolException("未找到该 起点 对应的站点数据");
        }
        Integer lev = startStation.getStationLev();

        NavigateSolution navigateSolution = new NavigateSolution();
        List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);

        NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
        if (startNode == null) {
            throw new CoolException("未找到该 起点 对应的节点");
        }

        NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
        if (endNode == null) {
            throw new CoolException("未找到该 终点 对应的节点");
        }

        StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
        StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
                ? StationPathProfileConfig.defaultConfig()
                : resolvedPolicy.getProfileConfig();

        long startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
        int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
        int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
        int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
        List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
                stationMap,
                startNode,
                endNode,
                calcMaxDepth,
                calcMaxPaths,
                calcMaxCost,
                guideStationSequence
        );
        if (allList.isEmpty()) {
            return StationPathSearchContext.empty(resolvedPolicy);
        }
        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        allList = filterNonAutoStationPaths(allList, statusMap);
        if (allList.isEmpty()) {
            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);
            return StationPathSearchContext.empty(resolvedPolicy);
        }
        News.info("[WCS Debug] 站点路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);
        return new StationPathSearchContext(allList, resolvedPolicy);
    }

    private List<List<NavigateNode>> normalizeCandidatePaths(List<List<NavigateNode>> orderedPathList) {
        List<List<NavigateNode>> result = new ArrayList<>();
        if (orderedPathList == null || orderedPathList.isEmpty()) {
            return result;
        }
        Set<String> seenPathSignatures = new LinkedHashSet<>();
        for (List<NavigateNode> path : orderedPathList) {
            List<NavigateNode> normalizedPath = normalizeStationPath(path);
            String pathSignature = buildPathSignature(normalizedPath);
            if (pathSignature.isEmpty() || !seenPathSignatures.add(pathSignature)) {
                continue;
            }
            result.add(normalizedPath);
        }
        return result;
    }

    private List<NavigateNode> normalizeStationPath(List<NavigateNode> path) {
        HashSet<Integer> stationIdSet = new HashSet<>();
        List<NavigateNode> filterList = new ArrayList<>();
        for (NavigateNode navigateNode : safeList(path)) {
            if (navigateNode == null) {
                continue;
            }
            JSONObject valueObject;
            try {
                valueObject = JSON.parseObject(navigateNode.getNodeValue());
            } catch (Exception ignore) {
                continue;
            }
            if (valueObject == null || valueObject.containsKey("rgvCalcFlag")) {
                continue;
            }
            Integer stationId = valueObject.getInteger("stationId");
            if (stationId == null || !stationIdSet.add(stationId)) {
                continue;
            }
            NavigateNode clonedNode = navigateNode.clone();
            if (clonedNode == null) {
                continue;
            }
            filterList.add(clonedNode);
        }

        for (int i = 0; i < filterList.size(); i++) {
            NavigateNode currentNode = filterList.get(i);
            currentNode.setIsInflectionPoint(false);
            currentNode.setIsLiftTransferPoint(false);

            try {
                JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
                if (valueObject != null) {
                    Object isLiftTransfer = valueObject.get("isLiftTransfer");
                    if (isLiftTransfer != null) {
                        String isLiftTransferStr = isLiftTransfer.toString();
                        if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
                            currentNode.setIsLiftTransferPoint(true);
                        }
                    }
                }
            } catch (Exception ignore) {
            }

            NavigateNode nextNode = (i + 1 < filterList.size()) ? filterList.get(i + 1) : null;
            NavigateNode prevNode = (i - 1 >= 0) ? filterList.get(i - 1) : null;

            HashMap<String, Object> searchResult = searchInflectionPoint(currentNode, nextNode, prevNode);
            if (Boolean.parseBoolean(searchResult.get("result").toString())) {
                currentNode.setIsInflectionPoint(true);
                currentNode.setDirection(searchResult.get("direction").toString());
            }
        }
        return filterList;
    }

    private String buildPathSignature(List<NavigateNode> path) {
        List<Integer> stationIdList = extractStationIdList(path);
        if (stationIdList.isEmpty()) {
            return "";
        }
        StringBuilder builder = new StringBuilder();
        for (Integer stationId : stationIdList) {
            if (stationId == null) {
                continue;
            }
            if (builder.length() > 0) {
                builder.append("->");
            }
            builder.append(stationId);
        }
        return builder.toString();
    }

    private <T> List<T> safeList(List<T> list) {
        return list == null ? Collections.emptyList() : list;
    }

    private static class StationPathSearchContext {
        private final List<List<NavigateNode>> allList;
        private final StationPathResolvedPolicy resolvedPolicy;

        private StationPathSearchContext(List<List<NavigateNode>> allList,
                                         StationPathResolvedPolicy resolvedPolicy) {
            this.allList = allList == null ? new ArrayList<>() : allList;
            this.resolvedPolicy = resolvedPolicy == null ? new StationPathResolvedPolicy() : resolvedPolicy;
        }

        private static StationPathSearchContext empty(StationPathResolvedPolicy resolvedPolicy) {
            return new StationPathSearchContext(new ArrayList<>(), resolvedPolicy);
        }
    }

    private static class PathCandidateMetrics {
@@ -1472,6 +2072,9 @@
        private int runBlockCount;
        private int softDeviationCount;
        private double loopPenalty;
        private double baseLengthWeight;
        private double otherStaticCost;
        private double pathLenPreferenceDistance;
        private double staticCost;
        private double dynamicCost;
    }
@@ -1506,6 +2109,41 @@
        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;