#

Junjie

12 小时以前 103ca74d9b67ce4f766b5f77451741a76fa696b9

 src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java

@@ -6,18 +6,22 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasStationOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationOptService;
import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
@@ -27,23 +31,37 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
import com.zy.core.service.StationTaskLoopService;
import com.zy.core.thread.impl.v5.StationV5SegmentExecutor;
import com.zy.core.trace.StationTaskTraceRegistry;
import com.zy.core.utils.DeviceLogRedisKeyBuilder;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.ArrayDeque;
import java.util.Collections;
import java.util.Date;
import java.util.Deque;
import java.util.HashMap;
import java.util.HashSet;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Objects;
import java.util.Set;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;

@Data
@Slf4j
public class ZyStationV5Thread implements Runnable, com.zy.core.thread.StationThread {

    private static final int RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS = 60 * 60 * 24;
    private static final int SHORT_PATH_REPEAT_AVOID_THRESHOLD = 2;
    private static final int LOOP_REPEAT_TRIGGER_COUNT = 3;
    private static final int LOCAL_LOOP_NEIGHBOR_HOP = 3;

    private List<StationProtocol> statusList = new ArrayList<>();
    private DeviceConfig deviceConfig;
@@ -220,6 +238,16 @@
                                     Integer stationId,
                                     Integer targetStationId,
                                     Integer palletSize) {
        return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
    }

    @Override
    public StationCommand getCommand(StationCommandType commandType,
                                     Integer taskNo,
                                     Integer stationId,
                                     Integer targetStationId,
                                     Integer palletSize,
                                     Double pathLenFactor) {
        StationCommand stationCommand = new StationCommand();
        stationCommand.setTaskNo(taskNo);
        stationCommand.setStationId(stationId);
@@ -228,27 +256,100 @@
        stationCommand.setCommandType(commandType);

        if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
            List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
            List<Integer> path = new ArrayList<>();
            List<Integer> liftTransferPath = new ArrayList<>();
            for (NavigateNode n : nodes) {
                JSONObject v = JSONObject.parseObject(n.getNodeValue());
                if (v == null) {
                    continue;
                }
                Integer stationNo = v.getInteger("stationId");
                if (stationNo == null) {
                    continue;
                }
                path.add(stationNo);
                if (Boolean.TRUE.equals(n.getIsLiftTransferPoint())) {
                    liftTransferPath.add(stationNo);
                }
            }
            stationCommand.setNavigatePath(path);
            stationCommand.setLiftTransferPath(liftTransferPath);
            List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
            return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
        }
        return stationCommand;
    }

    @Override
    public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
                                                                 Integer stationId,
                                                                 Integer targetStationId,
                                                                 Integer palletSize) {
        return getRunBlockRerouteCommand(taskNo, stationId, targetStationId, palletSize, null);
    }

    @Override
    public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
                                                                 Integer stationId,
                                                                 Integer targetStationId,
                                                                 Integer palletSize,
                                                                 Double pathLenFactor) {
        if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
            return null;
        }
        if (Objects.equals(stationId, targetStationId)) {
            return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize, pathLenFactor);
        }

        RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
        StationTaskLoopService taskLoopService = loadStationTaskLoopService();
        StationTaskLoopService.LoopEvaluation loopEvaluation = taskLoopService == null
                ? new StationTaskLoopService.LoopEvaluation(taskNo, stationId, StationTaskLoopService.LoopIdentitySnapshot.empty(), 0, 0, false)
                : taskLoopService.evaluateLoop(taskNo, stationId, true);
        log.info("输送线堵塞重规划环线识别，taskNo={}, stationId={}, scopeType={}, localStationCount={}, sourceLoopStationCount={}",
                taskNo,
                stationId,
                loopEvaluation.getLoopIdentity().getScopeType(),
                loopEvaluation.getLoopIdentity().getLocalStationCount(),
                loopEvaluation.getLoopIdentity().getSourceLoopStationCount());
        rerouteState.setTaskNo(taskNo);
        rerouteState.setBlockStationId(stationId);
        rerouteState.setLastTargetStationId(targetStationId);
        rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
        rerouteState.setLastPlanTime(System.currentTimeMillis());

        List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
        if (candidatePathList.isEmpty()) {
            saveRunBlockRerouteState(rerouteState);
            log.warn("输送线堵塞重规划失败，候选路径为空，taskNo={}, planCount={}, stationId={}, targetStationId={}",
                    taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
            return null;
        }

        StationCommand rerouteCommand = selectAvailableRerouteCommand(
                rerouteState,
                loopEvaluation,
                candidatePathList,
                taskNo,
                stationId,
                targetStationId,
                palletSize
        );
        if (rerouteCommand == null) {
            log.info("输送线堵塞重规划候选路线已全部试过，重置路线历史后重新开始，taskNo={}, planCount={}, stationId={}, targetStationId={}",
                    taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
            rerouteState.resetIssuedRoutes();
            rerouteCommand = selectAvailableRerouteCommand(
                    rerouteState,
                    loopEvaluation,
                    candidatePathList,
                    taskNo,
                    stationId,
                    targetStationId,
                    palletSize
            );
        }

        if (rerouteCommand != null) {
            saveRunBlockRerouteState(rerouteState);
            if (taskLoopService != null) {
                taskLoopService.recordLoopIssue(loopEvaluation, "RUN_BLOCK_REROUTE");
            }
            log.info("输送线堵塞重规划选中候选路线，taskNo={}, planCount={}, stationId={}, targetStationId={}, route={}",
                    taskNo, rerouteState.getPlanCount(), stationId, targetStationId, JSON.toJSONString(rerouteCommand.getNavigatePath()));
            return rerouteCommand;
        }

        saveRunBlockRerouteState(rerouteState);
        log.warn("输送线堵塞重规划未找到可下发路线，taskNo={}, planCount={}, stationId={}, targetStationId={}, triedRoutes={}",
                taskNo,
                rerouteState.getPlanCount(),
                stationId,
                targetStationId,
                JSON.toJSONString(rerouteState.getIssuedRoutePathList()));
        return null;
    }

    @Override
@@ -302,11 +403,842 @@
        return zyStationConnectDriver.readOriginCommand(address, length);
    }

    private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, Integer startStationId, Integer targetStationId) {
    private List<NavigateNode> calcPathNavigateNodes(Integer taskNo,
                                                     Integer startStationId,
                                                     Integer targetStationId,
                                                     Double pathLenFactor) {
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        if (navigateUtils == null) {
            return new ArrayList<>();
        }
        return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
        return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
    }

    private List<List<NavigateNode>> calcCandidatePathNavigateNodes(Integer taskNo,
                                                                    Integer startStationId,
                                                                    Integer targetStationId,
                                                                    Double pathLenFactor) {
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        if (navigateUtils == null) {
            return new ArrayList<>();
        }
        return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
    }

    private StationCommand buildMoveCommand(Integer taskNo,
                                            Integer stationId,
                                            Integer targetStationId,
                                            Integer palletSize,
                                            List<NavigateNode> nodes) {
        StationCommand stationCommand = new StationCommand();
        stationCommand.setTaskNo(taskNo);
        stationCommand.setStationId(stationId);
        stationCommand.setTargetStaNo(targetStationId);
        stationCommand.setPalletSize(palletSize);
        stationCommand.setCommandType(StationCommandType.MOVE);
        return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
    }

    private StationCommand fillMoveCommandPath(StationCommand stationCommand,
                                               List<NavigateNode> nodes,
                                               Integer taskNo,
                                               Integer stationId,
                                               Integer targetStationId) {
        List<Integer> path = new ArrayList<>();
        List<Integer> liftTransferPath = new ArrayList<>();
        for (NavigateNode node : nodes) {
            JSONObject valueObject;
            try {
                valueObject = JSONObject.parseObject(node.getNodeValue());
            } catch (Exception ignore) {
                continue;
            }
            if (valueObject == null) {
                continue;
            }
            Integer stationNo = valueObject.getInteger("stationId");
            if (stationNo == null) {
                continue;
            }
            path.add(stationNo);
            if (Boolean.TRUE.equals(node.getIsLiftTransferPoint())) {
                liftTransferPath.add(stationNo);
            }
        }
        if (path.isEmpty()) {
            log.warn("输送线命令生成失败，路径为空，taskNo={}, stationId={}, targetStationId={}",
                    taskNo, stationId, targetStationId);
            return null;
        }
        stationCommand.setNavigatePath(path);
        stationCommand.setLiftTransferPath(liftTransferPath);
        stationCommand.setTargetStaNo(path.get(path.size() - 1));
        return stationCommand;
    }

    private StationCommand selectAvailableRerouteCommand(RunBlockRerouteState rerouteState,
                                                         StationTaskLoopService.LoopEvaluation loopEvaluation,
                                                         List<List<NavigateNode>> candidatePathList,
                                                         Integer taskNo,
                                                         Integer stationId,
                                                         Integer targetStationId,
                                                         Integer palletSize) {
        if (rerouteState == null || candidatePathList == null || candidatePathList.isEmpty()) {
            return null;
        }

        Set<String> issuedRouteSignatureSet = rerouteState.getIssuedRouteSignatureSet();
        List<RerouteCandidateCommand> candidateCommandList = new ArrayList<>();
        for (List<NavigateNode> candidatePath : candidatePathList) {
            StationCommand rerouteCommand = buildMoveCommand(taskNo, stationId, targetStationId, palletSize, candidatePath);
            if (rerouteCommand == null || rerouteCommand.getNavigatePath() == null || rerouteCommand.getNavigatePath().isEmpty()) {
                continue;
            }
            String routeSignature = buildPathSignature(rerouteCommand.getNavigatePath());
            if (Cools.isEmpty(routeSignature)) {
                continue;
            }
            RerouteCandidateCommand candidateCommand = new RerouteCandidateCommand();
            candidateCommand.setCommand(rerouteCommand);
            candidateCommand.setRouteSignature(routeSignature);
            candidateCommand.setPathLength(rerouteCommand.getNavigatePath().size());
            candidateCommand.setIssuedCount(rerouteState.getRouteIssueCountMap().getOrDefault(routeSignature, 0));
            candidateCommand.setLoopFingerprint(loopEvaluation.getLoopIdentity().getLoopFingerprint());
            candidateCommand.setLoopIssuedCount(loopEvaluation.getExpectedLoopIssueCount());
            candidateCommand.setLoopTriggered(loopEvaluation.isLargeLoopTriggered());
            candidateCommand.setCurrentLoopHitCount(countCurrentLoopStationHit(
                    rerouteCommand.getNavigatePath(),
                    loopEvaluation.getLoopIdentity().getStationIdSet()
            ));
            candidateCommandList.add(candidateCommand);
        }
        if (candidateCommandList.isEmpty()) {
            return null;
        }

        List<RerouteCandidateCommand> orderedCandidateCommandList = reorderCandidateCommandsForLoopRelease(candidateCommandList);
        for (RerouteCandidateCommand candidateCommand : orderedCandidateCommandList) {
            if (candidateCommand == null || candidateCommand.getCommand() == null) {
                continue;
            }
            if (issuedRouteSignatureSet.contains(candidateCommand.getRouteSignature())) {
                continue;
            }

            StationCommand rerouteCommand = candidateCommand.getCommand();
            issuedRouteSignatureSet.add(candidateCommand.getRouteSignature());
            rerouteState.getIssuedRoutePathList().add(new ArrayList<>(rerouteCommand.getNavigatePath()));
            rerouteState.setLastSelectedRoute(new ArrayList<>(rerouteCommand.getNavigatePath()));
            rerouteState.getRouteIssueCountMap().put(
                    candidateCommand.getRouteSignature(),
                    rerouteState.getRouteIssueCountMap().getOrDefault(candidateCommand.getRouteSignature(), 0) + 1
            );
            return rerouteCommand;
        }
        return null;
    }

    private List<RerouteCandidateCommand> reorderCandidateCommandsForLoopRelease(List<RerouteCandidateCommand> candidateCommandList) {
        if (candidateCommandList == null || candidateCommandList.isEmpty()) {
            return new ArrayList<>();
        }

        int shortestPathLength = Integer.MAX_VALUE;
        int shortestPathLoopHitCount = Integer.MAX_VALUE;
        boolean shortestPathOverused = false;
        boolean currentLoopOverused = false;
        boolean hasLongerCandidate = false;
        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
                continue;
            }
            shortestPathLength = Math.min(shortestPathLength, candidateCommand.getPathLength());
        }
        if (shortestPathLength == Integer.MAX_VALUE) {
            return candidateCommandList;
        }

        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
                continue;
            }
            if (candidateCommand.getPathLength() == shortestPathLength) {
                shortestPathLoopHitCount = Math.min(shortestPathLoopHitCount, safeInt(candidateCommand.getCurrentLoopHitCount()));
            }
            if (candidateCommand.getPathLength() > shortestPathLength) {
                hasLongerCandidate = true;
            }
            if (candidateCommand.getPathLength() == shortestPathLength
                    && candidateCommand.getIssuedCount() != null
                    && candidateCommand.getIssuedCount() >= SHORT_PATH_REPEAT_AVOID_THRESHOLD) {
                shortestPathOverused = true;
            }
            if (!Cools.isEmpty(candidateCommand.getLoopFingerprint())
                    && Boolean.TRUE.equals(candidateCommand.getLoopTriggered())) {
                currentLoopOverused = true;
            }
        }
        if (!shortestPathOverused && !currentLoopOverused) {
            return candidateCommandList;
        }
        if (shortestPathLoopHitCount == Integer.MAX_VALUE) {
            shortestPathLoopHitCount = 0;
        }

        boolean hasLoopExitCandidate = false;
        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand == null) {
                continue;
            }
            if (safeInt(candidateCommand.getCurrentLoopHitCount()) < shortestPathLoopHitCount) {
                hasLoopExitCandidate = true;
                break;
            }
        }
        if (!hasLongerCandidate && !hasLoopExitCandidate) {
            return candidateCommandList;
        }

        List<RerouteCandidateCommand> reorderedList = new ArrayList<>();
        if (currentLoopOverused && hasLoopExitCandidate) {
            for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
                if (candidateCommand == null) {
                    continue;
                }
                if (safeInt(candidateCommand.getCurrentLoopHitCount()) < shortestPathLoopHitCount) {
                    appendCandidateIfAbsent(reorderedList, candidateCommand);
                }
            }
        }
        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand != null
                    && candidateCommand.getPathLength() != null
                    && candidateCommand.getPathLength() > shortestPathLength) {
                appendCandidateIfAbsent(reorderedList, candidateCommand);
            }
        }
        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand == null || candidateCommand.getPathLength() == null) {
                continue;
            }
            appendCandidateIfAbsent(reorderedList, candidateCommand);
        }
        return reorderedList;
    }

    private void appendCandidateIfAbsent(List<RerouteCandidateCommand> reorderedList,
                                         RerouteCandidateCommand candidateCommand) {
        if (reorderedList == null || candidateCommand == null) {
            return;
        }
        if (!reorderedList.contains(candidateCommand)) {
            reorderedList.add(candidateCommand);
        }
    }

    private RunBlockRerouteState loadRunBlockRerouteState(Integer taskNo, Integer blockStationId) {
        if (redisUtil == null || taskNo == null || taskNo <= 0 || blockStationId == null || blockStationId <= 0) {
            return new RunBlockRerouteState();
        }
        Object stateObj = redisUtil.get(buildRunBlockRerouteStateKey(taskNo, blockStationId));
        if (stateObj == null) {
            return new RunBlockRerouteState();
        }
        try {
            RunBlockRerouteState state = JSON.parseObject(String.valueOf(stateObj), RunBlockRerouteState.class);
            return state == null ? new RunBlockRerouteState() : state.normalize();
        } catch (Exception ignore) {
            return new RunBlockRerouteState();
        }
    }

    private void saveRunBlockRerouteState(RunBlockRerouteState rerouteState) {
        if (redisUtil == null
                || rerouteState == null
                || rerouteState.getTaskNo() == null
                || rerouteState.getTaskNo() <= 0
                || rerouteState.getBlockStationId() == null
                || rerouteState.getBlockStationId() <= 0) {
            return;
        }
        rerouteState.normalize();
        redisUtil.set(
                buildRunBlockRerouteStateKey(rerouteState.getTaskNo(), rerouteState.getBlockStationId()),
                JSON.toJSONString(rerouteState),
                RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS
        );
    }

    private TaskLoopRerouteState loadTaskLoopRerouteState(Integer taskNo) {
        if (redisUtil == null || taskNo == null || taskNo <= 0) {
            return new TaskLoopRerouteState();
        }
        Object stateObj = redisUtil.get(RedisKeyType.STATION_RUN_BLOCK_TASK_LOOP_STATE_.key + taskNo);
        if (stateObj == null) {
            return new TaskLoopRerouteState();
        }
        try {
            TaskLoopRerouteState state = JSON.parseObject(String.valueOf(stateObj), TaskLoopRerouteState.class);
            return state == null ? new TaskLoopRerouteState() : state.normalize();
        } catch (Exception ignore) {
            return new TaskLoopRerouteState();
        }
    }

    private void saveTaskLoopRerouteState(TaskLoopRerouteState taskLoopRerouteState) {
        if (redisUtil == null
                || taskLoopRerouteState == null
                || taskLoopRerouteState.getTaskNo() == null
                || taskLoopRerouteState.getTaskNo() <= 0) {
            return;
        }
        taskLoopRerouteState.normalize();
        redisUtil.set(
                RedisKeyType.STATION_RUN_BLOCK_TASK_LOOP_STATE_.key + taskLoopRerouteState.getTaskNo(),
                JSON.toJSONString(taskLoopRerouteState),
                RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS
        );
    }

    private void touchTaskLoopRerouteState(TaskLoopRerouteState taskLoopRerouteState,
                                           LoopIdentity currentLoopIdentity) {
        if (taskLoopRerouteState == null || currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
            return;
        }
        taskLoopRerouteState.getLoopIssueCountMap().put(
                currentLoopIdentity.getLoopFingerprint(),
                taskLoopRerouteState.getLoopIssueCountMap().getOrDefault(currentLoopIdentity.getLoopFingerprint(), 0) + 1
        );
        taskLoopRerouteState.setLastLoopFingerprint(currentLoopIdentity.getLoopFingerprint());
        taskLoopRerouteState.setLastIssueTime(System.currentTimeMillis());
    }

    private int resolveCurrentLoopIssuedCount(TaskLoopRerouteState taskLoopRerouteState,
                                              LoopIdentity currentLoopIdentity) {
        if (taskLoopRerouteState == null || currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
            return 0;
        }
        return taskLoopRerouteState.getLoopIssueCountMap().getOrDefault(currentLoopIdentity.getLoopFingerprint(), 0);
    }

    private int resolveExpectedLoopIssuedCount(TaskLoopRerouteState taskLoopRerouteState,
                                               LoopIdentity currentLoopIdentity) {
        if (currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
            return 0;
        }
        return resolveCurrentLoopIssuedCount(taskLoopRerouteState, currentLoopIdentity) + 1;
    }

    private boolean isLoopRepeatTriggered(Integer loopIssuedCount) {
        return loopIssuedCount != null && loopIssuedCount >= LOOP_REPEAT_TRIGGER_COUNT;
    }

    private void syncTaskTraceLoopAlert(Integer taskNo,
                                        Integer blockedStationId,
                                        LoopIdentity currentLoopIdentity,
                                        int loopIssuedCount) {
        StationTaskTraceRegistry traceRegistry;
        try {
            traceRegistry = SpringUtils.getBean(StationTaskTraceRegistry.class);
        } catch (Exception ignore) {
            return;
        }
        if (traceRegistry == null || taskNo == null || taskNo <= 0) {
            return;
        }

        boolean active = currentLoopIdentity != null
                && !Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())
                && isLoopRepeatTriggered(loopIssuedCount);
        Map<String, Object> details = new HashMap<>();
        details.put("blockedStationId", blockedStationId);
        details.put("loopScopeType", currentLoopIdentity == null ? "" : currentLoopIdentity.getScopeType());
        details.put("loopStationCount", currentLoopIdentity == null ? 0 : currentLoopIdentity.getLocalStationCount());
        details.put("sourceLoopStationCount", currentLoopIdentity == null ? 0 : currentLoopIdentity.getSourceLoopStationCount());
        details.put("loopRepeatCount", loopIssuedCount);
        String loopAlertType = resolveLoopAlertType(currentLoopIdentity);
        String loopAlertText = buildLoopAlertText(loopAlertType, currentLoopIdentity, loopIssuedCount);
        traceRegistry.updateLoopHint(taskNo, active, loopAlertType, loopAlertText, loopIssuedCount, details);
    }

    private String resolveLoopAlertType(LoopIdentity currentLoopIdentity) {
        if (currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
            return "";
        }
        return "wholeLoop".equals(currentLoopIdentity.getScopeType()) ? "LARGE_LOOP" : "SMALL_LOOP";
    }

    private String buildLoopAlertText(String loopAlertType,
                                      LoopIdentity currentLoopIdentity,
                                      int loopIssuedCount) {
        if (Cools.isEmpty(loopAlertType) || currentLoopIdentity == null || !isLoopRepeatTriggered(loopIssuedCount)) {
            return "";
        }
        String typeLabel = "LARGE_LOOP".equals(loopAlertType) ? "大环线" : "小环线";
        return typeLabel + "绕圈预警，累计重规划" + loopIssuedCount + "次，当前识别范围"
                + currentLoopIdentity.getLocalStationCount() + "站";
    }

    private int countCurrentLoopStationHit(List<Integer> path, Set<Integer> currentLoopStationIdSet) {
        if (path == null || path.isEmpty() || currentLoopStationIdSet == null || currentLoopStationIdSet.isEmpty()) {
            return 0;
        }
        int hitCount = 0;
        for (Integer stationId : path) {
            if (stationId != null && currentLoopStationIdSet.contains(stationId)) {
                hitCount++;
            }
        }
        return hitCount;
    }

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

    private StationTaskLoopService loadStationTaskLoopService() {
        try {
            return SpringUtils.getBean(StationTaskLoopService.class);
        } catch (Exception ignore) {
            return null;
        }
    }

    private String buildRunBlockRerouteStateKey(Integer taskNo, Integer blockStationId) {
        return RedisKeyType.STATION_RUN_BLOCK_REROUTE_STATE_.key + taskNo + "_" + blockStationId;
    }

    private LoopIdentity resolveStationLoopIdentity(Integer stationId) {
        if (stationId == null || stationId <= 0) {
            return LoopIdentity.empty();
        }
        try {
            StationCycleCapacityService stationCycleCapacityService = SpringUtils.getBean(StationCycleCapacityService.class);
            if (stationCycleCapacityService == null) {
                return LoopIdentity.empty();
            }
            StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
            if (capacityVo == null || capacityVo.getLoopList() == null || capacityVo.getLoopList().isEmpty()) {
                return LoopIdentity.empty();
            }
            for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
                List<Integer> loopStationIdList = normalizeLoopStationIdList(loopVo == null ? null : loopVo.getStationIdList());
                if (loopStationIdList.isEmpty() || !loopStationIdList.contains(stationId)) {
                    continue;
                }
                Set<Integer> loopStationIdSet = new HashSet<>(loopStationIdList);
                Map<Integer, Set<Integer>> stationGraph = loadUndirectedStationGraph();
                List<Integer> localCycleStationIdList = resolveLocalCycleStationIdList(stationId, loopStationIdSet, stationGraph);
                if (localCycleStationIdList.size() >= 3) {
                    return buildLoopIdentity(localCycleStationIdList, loopStationIdList.size(), "localCycle");
                }

                List<Integer> localNeighborhoodStationIdList = resolveLocalNeighborhoodStationIdList(stationId, loopStationIdSet, stationGraph);
                if (localNeighborhoodStationIdList.size() >= 3 && localNeighborhoodStationIdList.size() < loopStationIdList.size()) {
                    return buildLoopIdentity(localNeighborhoodStationIdList, loopStationIdList.size(), "localNeighborhood");
                }
                return buildLoopIdentity(loopStationIdList, loopStationIdList.size(), "wholeLoop");
            }
        } catch (Exception ignore) {
        }
        return LoopIdentity.empty();
    }

    private LoopIdentity buildLoopIdentity(List<Integer> stationIdList,
                                           int sourceLoopStationCount,
                                           String scopeType) {
        List<Integer> normalizedStationIdList = normalizeLoopStationIdList(stationIdList);
        if (normalizedStationIdList.isEmpty()) {
            return LoopIdentity.empty();
        }
        return new LoopIdentity(
                buildLoopFingerprint(normalizedStationIdList),
                new HashSet<>(normalizedStationIdList),
                sourceLoopStationCount,
                normalizedStationIdList.size(),
                scopeType
        );
    }

    private List<Integer> resolveLocalCycleStationIdList(Integer stationId,
                                                         Set<Integer> loopStationIdSet,
                                                         Map<Integer, Set<Integer>> stationGraph) {
        if (stationId == null
                || stationId <= 0
                || loopStationIdSet == null
                || loopStationIdSet.isEmpty()
                || stationGraph == null
                || stationGraph.isEmpty()) {
            return new ArrayList<>();
        }
        Set<Integer> localNeighborhoodStationIdSet = collectLoopNeighborhoodStationIdSet(
                stationId,
                loopStationIdSet,
                stationGraph,
                LOCAL_LOOP_NEIGHBOR_HOP
        );
        if (localNeighborhoodStationIdSet.size() < 3) {
            return new ArrayList<>();
        }

        Set<Integer> directNeighborStationIdSet = filterLoopNeighborStationIdSet(
                stationGraph.getOrDefault(stationId, Collections.emptySet()),
                localNeighborhoodStationIdSet,
                stationId
        );
        if (directNeighborStationIdSet.size() < 2) {
            return new ArrayList<>();
        }

        List<Integer> bestCycleStationIdList = new ArrayList<>();
        List<Integer> neighborStationIdList = new ArrayList<>(directNeighborStationIdSet);
        for (int i = 0; i < neighborStationIdList.size(); i++) {
            Integer leftNeighborStationId = neighborStationIdList.get(i);
            if (leftNeighborStationId == null) {
                continue;
            }
            for (int j = i + 1; j < neighborStationIdList.size(); j++) {
                Integer rightNeighborStationId = neighborStationIdList.get(j);
                if (rightNeighborStationId == null) {
                    continue;
                }
                List<Integer> pathBetweenNeighbors = findShortestScopePath(
                        leftNeighborStationId,
                        rightNeighborStationId,
                        stationId,
                        localNeighborhoodStationIdSet,
                        stationGraph
                );
                if (pathBetweenNeighbors.isEmpty()) {
                    continue;
                }
                List<Integer> cycleStationIdList = new ArrayList<>();
                cycleStationIdList.add(stationId);
                cycleStationIdList.addAll(pathBetweenNeighbors);
                cycleStationIdList = normalizeLoopStationIdList(cycleStationIdList);
                if (cycleStationIdList.size() < 3) {
                    continue;
                }
                if (bestCycleStationIdList.isEmpty() || cycleStationIdList.size() < bestCycleStationIdList.size()) {
                    bestCycleStationIdList = cycleStationIdList;
                }
            }
        }
        return bestCycleStationIdList;
    }

    private List<Integer> resolveLocalNeighborhoodStationIdList(Integer stationId,
                                                                Set<Integer> loopStationIdSet,
                                                                Map<Integer, Set<Integer>> stationGraph) {
        return normalizeLoopStationIdList(new ArrayList<>(collectLoopNeighborhoodStationIdSet(
                stationId,
                loopStationIdSet,
                stationGraph,
                LOCAL_LOOP_NEIGHBOR_HOP
        )));
    }

    private Set<Integer> collectLoopNeighborhoodStationIdSet(Integer stationId,
                                                             Set<Integer> loopStationIdSet,
                                                             Map<Integer, Set<Integer>> stationGraph,
                                                             int maxHop) {
        Set<Integer> neighborhoodStationIdSet = new LinkedHashSet<>();
        if (stationId == null
                || stationId <= 0
                || loopStationIdSet == null
                || loopStationIdSet.isEmpty()
                || !loopStationIdSet.contains(stationId)
                || stationGraph == null
                || stationGraph.isEmpty()
                || maxHop < 0) {
            return neighborhoodStationIdSet;
        }

        Deque<StationHopNode> queue = new ArrayDeque<>();
        queue.offer(new StationHopNode(stationId, 0));
        neighborhoodStationIdSet.add(stationId);
        while (!queue.isEmpty()) {
            StationHopNode current = queue.poll();
            if (current == null || current.getHop() >= maxHop) {
                continue;
            }
            Set<Integer> neighborStationIdSet = filterLoopNeighborStationIdSet(
                    stationGraph.getOrDefault(current.getStationId(), Collections.emptySet()),
                    loopStationIdSet,
                    null
            );
            for (Integer neighborStationId : neighborStationIdSet) {
                if (neighborStationId == null || !neighborhoodStationIdSet.add(neighborStationId)) {
                    continue;
                }
                queue.offer(new StationHopNode(neighborStationId, current.getHop() + 1));
            }
        }
        return neighborhoodStationIdSet;
    }

    private Set<Integer> filterLoopNeighborStationIdSet(Set<Integer> candidateNeighborStationIdSet,
                                                        Set<Integer> allowedStationIdSet,
                                                        Integer excludedStationId) {
        Set<Integer> result = new LinkedHashSet<>();
        if (candidateNeighborStationIdSet == null || candidateNeighborStationIdSet.isEmpty()
                || allowedStationIdSet == null || allowedStationIdSet.isEmpty()) {
            return result;
        }
        for (Integer stationId : candidateNeighborStationIdSet) {
            if (stationId == null
                    || !allowedStationIdSet.contains(stationId)
                    || (excludedStationId != null && excludedStationId.equals(stationId))) {
                continue;
            }
            result.add(stationId);
        }
        return result;
    }

    private List<Integer> findShortestScopePath(Integer startStationId,
                                                Integer endStationId,
                                                Integer excludedStationId,
                                                Set<Integer> allowedStationIdSet,
                                                Map<Integer, Set<Integer>> stationGraph) {
        if (startStationId == null
                || endStationId == null
                || Objects.equals(startStationId, excludedStationId)
                || Objects.equals(endStationId, excludedStationId)
                || allowedStationIdSet == null
                || !allowedStationIdSet.contains(startStationId)
                || !allowedStationIdSet.contains(endStationId)
                || stationGraph == null
                || stationGraph.isEmpty()) {
            return new ArrayList<>();
        }

        Deque<Integer> queue = new ArrayDeque<>();
        Map<Integer, Integer> parentMap = new HashMap<>();
        Set<Integer> visitedStationIdSet = new HashSet<>();
        queue.offer(startStationId);
        visitedStationIdSet.add(startStationId);
        while (!queue.isEmpty()) {
            Integer currentStationId = queue.poll();
            if (currentStationId == null) {
                continue;
            }
            if (Objects.equals(currentStationId, endStationId)) {
                break;
            }
            Set<Integer> neighborStationIdSet = filterLoopNeighborStationIdSet(
                    stationGraph.getOrDefault(currentStationId, Collections.emptySet()),
                    allowedStationIdSet,
                    excludedStationId
            );
            for (Integer neighborStationId : neighborStationIdSet) {
                if (neighborStationId == null || !visitedStationIdSet.add(neighborStationId)) {
                    continue;
                }
                parentMap.put(neighborStationId, currentStationId);
                queue.offer(neighborStationId);
            }
        }
        if (!visitedStationIdSet.contains(endStationId)) {
            return new ArrayList<>();
        }

        List<Integer> pathStationIdList = new ArrayList<>();
        Integer cursorStationId = endStationId;
        while (cursorStationId != null) {
            pathStationIdList.add(cursorStationId);
            if (Objects.equals(cursorStationId, startStationId)) {
                break;
            }
            cursorStationId = parentMap.get(cursorStationId);
        }
        if (pathStationIdList.isEmpty()
                || !Objects.equals(pathStationIdList.get(pathStationIdList.size() - 1), startStationId)) {
            return new ArrayList<>();
        }
        Collections.reverse(pathStationIdList);
        return pathStationIdList;
    }

    private Map<Integer, Set<Integer>> loadUndirectedStationGraph() {
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        if (navigateUtils == null) {
            return new HashMap<>();
        }
        Map<Integer, Set<Integer>> stationGraph = navigateUtils.loadUndirectedStationGraphSnapshot();
        return stationGraph == null ? new HashMap<>() : stationGraph;
    }

    private List<Integer> normalizeLoopStationIdList(List<Integer> stationIdList) {
        if (stationIdList == null || stationIdList.isEmpty()) {
            return new ArrayList<>();
        }
        List<Integer> normalizedList = new ArrayList<>();
        Set<Integer> seenStationIdSet = new HashSet<>();
        for (Integer stationId : stationIdList) {
            if (stationId == null || stationId <= 0 || !seenStationIdSet.add(stationId)) {
                continue;
            }
            normalizedList.add(stationId);
        }
        Collections.sort(normalizedList);
        return normalizedList;
    }

    private String buildLoopFingerprint(List<Integer> stationIdList) {
        if (stationIdList == null || 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 int safeInt(Integer value) {
        return value == null ? 0 : value;
    }

    @Data
    private static class RunBlockRerouteState {
        private Integer taskNo;
        private Integer blockStationId;
        private Integer planCount = 0;
        private Integer lastTargetStationId;
        private Long lastPlanTime;
        private List<List<Integer>> issuedRoutePathList = new ArrayList<>();
        private List<Integer> lastSelectedRoute = new ArrayList<>();
        private Set<String> issuedRouteSignatureSet = new LinkedHashSet<>();
        private Map<String, Integer> routeIssueCountMap = new HashMap<>();

        private RunBlockRerouteState normalize() {
            if (planCount == null || planCount < 0) {
                planCount = 0;
            }
            if (issuedRoutePathList == null) {
                issuedRoutePathList = new ArrayList<>();
            }
            if (lastSelectedRoute == null) {
                lastSelectedRoute = new ArrayList<>();
            }
            if (issuedRouteSignatureSet == null) {
                issuedRouteSignatureSet = new LinkedHashSet<>();
            }
            if (routeIssueCountMap == null) {
                routeIssueCountMap = new HashMap<>();
            }
            for (List<Integer> routePath : issuedRoutePathList) {
                if (routePath == null || routePath.isEmpty()) {
                    continue;
                }
                String pathSignature = buildPathSignatureText(routePath);
                if (!Cools.isEmpty(pathSignature)) {
                    issuedRouteSignatureSet.add(pathSignature);
                    routeIssueCountMap.putIfAbsent(pathSignature, 1);
                }
            }
            return this;
        }

        private void resetIssuedRoutes() {
            this.issuedRoutePathList = new ArrayList<>();
            this.lastSelectedRoute = new ArrayList<>();
            this.issuedRouteSignatureSet = new LinkedHashSet<>();
        }

        private static String buildPathSignatureText(List<Integer> routePath) {
            if (routePath == null || routePath.isEmpty()) {
                return "";
            }
            StringBuilder builder = new StringBuilder();
            for (Integer stationId : routePath) {
                if (stationId == null) {
                    continue;
                }
                if (builder.length() > 0) {
                    builder.append("->");
                }
                builder.append(stationId);
            }
            return builder.toString();
        }
    }

    @Data
    private static class RerouteCandidateCommand {
        private StationCommand command;
        private String routeSignature;
        private Integer pathLength;
        private Integer issuedCount;
        private String loopFingerprint;
        private Integer loopIssuedCount;
        private Boolean loopTriggered;
        private Integer currentLoopHitCount;
    }

    @Data
    private static class TaskLoopRerouteState {
        private Integer taskNo;
        private String lastLoopFingerprint;
        private Long lastIssueTime;
        private Map<String, Integer> loopIssueCountMap = new HashMap<>();

        private TaskLoopRerouteState normalize() {
            if (loopIssueCountMap == null) {
                loopIssueCountMap = new HashMap<>();
            }
            return this;
        }
    }

    @Data
    private static class LoopIdentity {
        private String loopFingerprint;
        private Set<Integer> stationIdSet = new HashSet<>();
        private int sourceLoopStationCount;
        private int localStationCount;
        private String scopeType;

        private LoopIdentity(String loopFingerprint,
                             Set<Integer> stationIdSet,
                             int sourceLoopStationCount,
                             int localStationCount,
                             String scopeType) {
            this.loopFingerprint = loopFingerprint;
            this.stationIdSet = stationIdSet == null ? new HashSet<>() : stationIdSet;
            this.sourceLoopStationCount = sourceLoopStationCount;
            this.localStationCount = localStationCount;
            this.scopeType = scopeType == null ? "" : scopeType;
        }

        private static LoopIdentity empty() {
            return new LoopIdentity("", new HashSet<>(), 0, 0, "none");
        }
    }

    @Data
    private static class StationHopNode {
        private final Integer stationId;
        private final int hop;
    }
}