#

Junjie

5 小时以前 1116b5a1c3feb85959d9b0b03e1c14693271aa8a

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

@@ -11,17 +11,22 @@
import com.zy.asrs.domain.path.StationPathProfileConfig;
import com.zy.asrs.domain.path.StationPathResolvedPolicy;
import com.zy.asrs.domain.path.StationPathRuleConfig;
import com.zy.asrs.domain.vo.StationTaskTraceSegmentVo;
import com.zy.asrs.entity.BasStationOpt;
import com.zy.asrs.domain.vo.StationTaskTraceVo;
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.BasStation;
import com.zy.asrs.service.BasStationOptService;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.service.StationPathPolicyService;
import com.zy.core.News;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.enums.StationCommandType;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

@@ -39,6 +44,9 @@
import com.zy.core.thread.StationThread;
import com.zy.core.trace.StationTaskTraceRegistry;

import java.util.Date;
import java.util.LinkedHashMap;

@Component
public class NavigateUtils {

@@ -54,6 +62,8 @@

    @Autowired
    private BasStationService basStationService;
    @Autowired
    private BasStationOptService basStationOptService;
    @Autowired
    private StationPathPolicyService stationPathPolicyService;
    @Autowired
@@ -945,7 +955,7 @@
            }
        }

        for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo)) {
        for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo, statusMap)) {
            if (traceVo == null) {
                continue;
            }
@@ -1017,31 +1027,32 @@
        return snapshot;
    }

    private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo) {
        if (stationTaskTraceRegistry == null) {
            return Collections.emptyList();
        }
        List<StationTaskTraceVo> traceList;
        try {
            traceList = stationTaskTraceRegistry.listLatestTraces();
        } catch (Exception ignore) {
            return Collections.emptyList();
        }
        if (traceList == null || traceList.isEmpty()) {
            return Collections.emptyList();
        }

        List<StationTaskTraceVo> result = new ArrayList<>();
        for (StationTaskTraceVo traceVo : traceList) {
            if (!isPlanningActiveTrace(traceVo)) {
                continue;
    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) {
            }
            if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
                continue;
            }
            result.add(traceVo);
        }
        return result;
        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) {
@@ -1052,6 +1063,275 @@
        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) {
@@ -1215,6 +1495,17 @@
        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 PathGlobalPolicy {
        private double lenWeightFactor = 1.0d;
        private double congWeightFactor = 1.0d;