#

Junjie

16 小时以前 3372040097ad2c01aeb6fd6485e89f19bf81b316

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

@@ -36,16 +36,9 @@
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;

@Component
public class NavigateUtils {

    private static final String CFG_STATION_PATH_LEN_WEIGHT_PERCENT = "stationPathLenWeightPercent";
    private static final String CFG_STATION_PATH_CONG_WEIGHT_PERCENT = "stationPathCongWeightPercent";
    private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT = "stationPathPassOtherOutStationWeightPercent";
    private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP = "stationPathPassOtherOutStationForceSkip";

    @Autowired
    private BasStationService basStationService;
@@ -81,10 +74,19 @@

        long startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
        int calcMaxDepth = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxDepth(), 120) : 120;
        int calcMaxPaths = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxPaths(), 500) : 500;
        int calcMaxCost = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxCost(), 300) : 300;
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, calcMaxDepth, calcMaxPaths, calcMaxCost);
        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()) {
//            throw new CoolException("未找到该路径");
            return new ArrayList<>();
@@ -99,9 +101,7 @@

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

        //去重
@@ -254,7 +254,7 @@
                }
            }
        } catch (Exception e) {
            News.warn("站点路径策略加载失败，回退 legacy: {}", e.getMessage());
            News.warn("站点路径策略加载失败，回退默认 twoStage: {}", e.getMessage());
        }
        return new StationPathResolvedPolicy();
    }
@@ -270,11 +270,21 @@
        StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
                ? StationPathProfileConfig.defaultConfig()
                : resolvedPolicy.getProfileConfig();
        PathGlobalPolicy globalPolicy = loadPathGlobalPolicy(profileConfig);

        List<List<NavigateNode>> filteredCandidates = applyRuleFilters(allList, ruleConfig, true);
        if (filteredCandidates.isEmpty() && hasWaypoint(ruleConfig) && !strictWaypoint(ruleConfig)) {
            filteredCandidates = applyRuleFilters(allList, ruleConfig, false);
            News.info("[WCS Debug] 站点路径规则已降级，忽略关键途经点约束后重试");
        }
        List<List<NavigateNode>> softFilteredCandidates = applySoftPreferenceFilter(filteredCandidates, ruleConfig);
        if (!softFilteredCandidates.isEmpty()) {
            filteredCandidates = softFilteredCandidates;
        } else if (hasSoftPreference(ruleConfig) && !allowSoftDegrade(ruleConfig)) {
            News.warn("[WCS Debug] 站点路径软偏好命中但无可行路径，且不允许降级");
            return new ArrayList<>();
        } else if (hasSoftPreference(ruleConfig)) {
            News.info("[WCS Debug] 站点路径规则已降级，忽略软偏好约束后重试");
        }
        if (filteredCandidates.isEmpty()) {
            if (resolvedPolicy.matchedRule()) {
@@ -287,14 +297,26 @@

        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
        Set<Integer> outStationIdSet = loadAllOutStationIdSet();
        List<PathCandidateMetrics> metricsList = new ArrayList<>();
        int skippedByOtherOutStation = 0;
        for (List<NavigateNode> path : filteredCandidates) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            metricsList.add(buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig));
            PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
            if (globalPolicy.forceSkipPassOtherOutStation && metrics.passOtherOutStationCount > 0) {
                skippedByOtherOutStation++;
                continue;
            }
            metricsList.add(metrics);
        }
        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());
            }
            return new ArrayList<>();
        }

@@ -342,6 +364,31 @@
                continue;
            }
            if (includeWaypoint && !matchWaypointConstraint(stationIdList, ruleConfig.getWaypoint())) {
                continue;
            }
            result.add(path);
        }
        return result;
    }

    private List<List<NavigateNode>> applySoftPreferenceFilter(List<List<NavigateNode>> allList,
                                                               StationPathRuleConfig ruleConfig) {
        if (allList == null || allList.isEmpty() || ruleConfig == null) {
            return new ArrayList<>();
        }
        StationPathRuleConfig.SoftPreference soft = ruleConfig.getSoft();
        List<Integer> preferredPath = getSoftReferencePath(soft);
        if (preferredPath.isEmpty()) {
            return allList;
        }

        List<List<NavigateNode>> result = new ArrayList<>();
        for (List<NavigateNode> path : allList) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            List<Integer> stationIdList = extractStationIdList(path);
            if (!matchSoftConstraint(stationIdList, soft)) {
                continue;
            }
            result.add(path);
@@ -397,6 +444,24 @@
        return false;
    }

    private boolean matchSoftConstraint(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
        List<Integer> preferredPath = getSoftReferencePath(soft);
        if (preferredPath.isEmpty()) {
            return true;
        }
        if (!containsOrderedStations(stationIdList, preferredPath)) {
            return false;
        }
        Integer maxOffPathCount = soft == null ? null : soft.getMaxOffPathCount();
        if (maxOffPathCount == null || maxOffPathCount < 0) {
            return true;
        }
        if (!isFullSoftPreferredPath(stationIdList, preferredPath)) {
            return true;
        }
        return countOffPathStations(stationIdList, preferredPath) <= maxOffPathCount;
    }

    private boolean hasWaypoint(StationPathRuleConfig ruleConfig) {
        return ruleConfig != null
                && ruleConfig.getWaypoint() != null
@@ -404,10 +469,64 @@
                && !ruleConfig.getWaypoint().getStations().isEmpty();
    }

    private boolean hasSoftPreference(StationPathRuleConfig ruleConfig) {
        return !getSoftReferencePath(ruleConfig == null ? null : ruleConfig.getSoft()).isEmpty();
    }

    private boolean strictWaypoint(StationPathRuleConfig ruleConfig) {
        return ruleConfig != null
                && ruleConfig.getFallback() != null
                && Boolean.TRUE.equals(ruleConfig.getFallback().getStrictWaypoint());
    }

    private boolean allowSoftDegrade(StationPathRuleConfig ruleConfig) {
        return ruleConfig == null
                || ruleConfig.getFallback() == null
                || !Boolean.FALSE.equals(ruleConfig.getFallback().getAllowSoftDegrade());
    }

    private List<Integer> buildGuideStationSequence(Integer startStationId,
                                                    Integer endStationId,
                                                    StationPathRuleConfig ruleConfig) {
        if (startStationId == null || endStationId == null || ruleConfig == null) {
            return Collections.emptyList();
        }

        List<Integer> sequence = new ArrayList<>();
        appendGuideStation(sequence, startStationId);

        List<Integer> preferredPath = safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
        if (!preferredPath.isEmpty()) {
            if (startStationId.equals(preferredPath.get(0))) {
                for (int i = 1; i < preferredPath.size(); i++) {
                    appendGuideStation(sequence, preferredPath.get(i));
                }
                if (sequence.get(sequence.size() - 1).equals(endStationId)) {
                    return sequence;
                }
            }
            sequence.clear();
            appendGuideStation(sequence, startStationId);
        }

        for (Integer stationId : safeList(ruleConfig.getWaypoint() == null ? null : ruleConfig.getWaypoint().getStations())) {
            appendGuideStation(sequence, stationId);
        }
        for (Integer stationId : safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getKeyStations())) {
            appendGuideStation(sequence, stationId);
        }
        appendGuideStation(sequence, endStationId);
        return sequence.size() <= 2 ? Collections.emptyList() : sequence;
    }

    private void appendGuideStation(List<Integer> sequence, Integer stationId) {
        if (sequence == null || stationId == null) {
            return;
        }
        if (!sequence.isEmpty() && stationId.equals(sequence.get(sequence.size() - 1))) {
            return;
        }
        sequence.add(stationId);
    }

    private boolean containsEdge(List<Integer> stationIdList, String edgeText) {
@@ -445,7 +564,9 @@
                                                       Map<Integer, StationProtocol> statusMap,
                                                       Map<Integer, Double> stationLoopLoadMap,
                                                       StationPathProfileConfig profileConfig,
                                                       StationPathRuleConfig ruleConfig) {
                                                       StationPathRuleConfig ruleConfig,
                                                       PathGlobalPolicy globalPolicy,
                                                       Set<Integer> outStationIdSet) {
        PathCandidateMetrics metrics = new PathCandidateMetrics();
        metrics.path = path;
        metrics.pathLen = path.size();
@@ -456,22 +577,28 @@
        metrics.busyStationCount = countBusyStationCount(stationIdList, statusMap);
        metrics.runBlockCount = countRunBlockCount(stationIdList, statusMap);
        metrics.loopPenalty = calcLoopPenalty(stationIdList, stationLoopLoadMap);
        metrics.passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
        metrics.softDeviationCount = calcSoftDeviationCount(stationIdList,
                ruleConfig == null || ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
                ruleConfig == null ? null : ruleConfig.getSoft());

        double softDeviationWeight = safeDouble(profileConfig.getS1SoftDeviationWeight(), 4.0d);
        if (ruleConfig != null && ruleConfig.getSoft() != null && ruleConfig.getSoft().getDeviationWeight() != null) {
            softDeviationWeight = ruleConfig.getSoft().getDeviationWeight();
        }

        double lenWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.lenWeightFactor;
        double congWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.congWeightFactor;
        double passOtherOutStationPenaltyWeight = globalPolicy == null ? 0.0d : globalPolicy.passOtherOutStationPenaltyWeight;

        metrics.staticCost =
                safeDouble(profileConfig.getS1LenWeight(), 1.0d) * metrics.pathLen
                safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor * metrics.pathLen
                        + safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
                        + safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
                        + passOtherOutStationPenaltyWeight * metrics.passOtherOutStationCount
                        + softDeviationWeight * metrics.softDeviationCount;

        metrics.dynamicCost =
                safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * metrics.busyStationCount
                safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.busyStationCount
                        + safeDouble(profileConfig.getS2RunBlockWeight(), 10.0d) * metrics.runBlockCount
                        + safeDouble(profileConfig.getS2LoopLoadWeight(), 12.0d) * metrics.loopPenalty;
        return metrics;
@@ -549,19 +676,19 @@
        return maxLoad;
    }

    private int calcSoftDeviationCount(List<Integer> stationIdList, List<Integer> preferredPath) {
        if (preferredPath == null || preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
    private int calcSoftDeviationCount(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
        List<Integer> preferredPath = getSoftReferencePath(soft);
        if (preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
            return 0;
        }
        Set<Integer> preferredSet = new HashSet<>(preferredPath);
        int count = 0;
        for (int i = 1; i < stationIdList.size() - 1; i++) {
            Integer stationId = stationIdList.get(i);
            if (stationId != null && !preferredSet.contains(stationId)) {
                count++;
            }
        int missingCount = countMissingOrderedStations(stationIdList, preferredPath);
        if (missingCount > 0) {
            return missingCount;
        }
        return count;
        if (isFullSoftPreferredPath(stationIdList, preferredPath)) {
            return countOffPathStations(stationIdList, preferredPath);
        }
        return 0;
    }

    private List<Integer> extractStationIdList(List<NavigateNode> path) {
@@ -577,6 +704,67 @@
            }
        }
        return stationIdList;
    }

    private List<Integer> getSoftReferencePath(StationPathRuleConfig.SoftPreference soft) {
        if (soft == null) {
            return Collections.emptyList();
        }
        if (soft.getPreferredPath() != null && !soft.getPreferredPath().isEmpty()) {
            return soft.getPreferredPath();
        }
        if (soft.getKeyStations() != null && !soft.getKeyStations().isEmpty()) {
            return soft.getKeyStations();
        }
        return Collections.emptyList();
    }

    private boolean containsOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
        return countMissingOrderedStations(stationIdList, targetStations) == 0;
    }

    private int countMissingOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
        if (stationIdList == null || stationIdList.isEmpty() || targetStations == null || targetStations.isEmpty()) {
            return 0;
        }
        int cursor = 0;
        for (Integer stationId : stationIdList) {
            Integer expected = targetStations.get(cursor);
            if (expected != null && expected.equals(stationId)) {
                cursor++;
                if (cursor >= targetStations.size()) {
                    return 0;
                }
            }
        }
        return targetStations.size() - cursor;
    }

    private boolean isFullSoftPreferredPath(List<Integer> stationIdList, List<Integer> preferredPath) {
        if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.isEmpty()) {
            return false;
        }
        Integer actualStart = stationIdList.get(0);
        Integer actualEnd = stationIdList.get(stationIdList.size() - 1);
        Integer preferredStart = preferredPath.get(0);
        Integer preferredEnd = preferredPath.get(preferredPath.size() - 1);
        return (actualStart == null ? preferredStart == null : actualStart.equals(preferredStart))
                && (actualEnd == null ? preferredEnd == null : actualEnd.equals(preferredEnd));
    }

    private int countOffPathStations(List<Integer> stationIdList, List<Integer> preferredPath) {
        if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.isEmpty()) {
            return 0;
        }
        Set<Integer> preferredSet = new HashSet<>(preferredPath);
        int count = 0;
        for (int i = 1; i < stationIdList.size() - 1; i++) {
            Integer stationId = stationIdList.get(i);
            if (stationId != null && !preferredSet.contains(stationId)) {
                count++;
            }
        }
        return count;
    }

    private List<List<NavigateNode>> filterNonAutoStationPaths(List<List<NavigateNode>> allList,
@@ -691,6 +879,7 @@
        private int pathLen;
        private int turnCount;
        private int liftTransferCount;
        private int passOtherOutStationCount;
        private int busyStationCount;
        private int runBlockCount;
        private int softDeviationCount;
@@ -699,162 +888,33 @@
        private double dynamicCost;
    }

    public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();
    private static class PathGlobalPolicy {
        private double lenWeightFactor = 1.0d;
        private double congWeightFactor = 1.0d;
        private double passOtherOutStationPenaltyWeight = 0.0d;
        private boolean forceSkipPassOtherOutStation = false;
    }
    private PathGlobalPolicy loadPathGlobalPolicy(StationPathProfileConfig profileConfig) {
        PathGlobalPolicy weights = new PathGlobalPolicy();
        StationPathProfileConfig source = profileConfig == null ? StationPathProfileConfig.defaultConfig() : profileConfig;
        double lenWeightPercent = safeDouble(source.getStationPathLenWeightPercent(), 50.0d);
        double congWeightPercent = safeDouble(source.getStationPathCongWeightPercent(), 50.0d);
        double passOtherOutStationWeightPercent = safeDouble(source.getStationPathPassOtherOutStationWeightPercent(), 100.0d);
        weights.forceSkipPassOtherOutStation = Boolean.TRUE.equals(source.getStationPathPassOtherOutStationForceSkip());

        lenWeightPercent = Math.max(lenWeightPercent, 0.0d);
        congWeightPercent = Math.max(congWeightPercent, 0.0d);
        passOtherOutStationWeightPercent = Math.max(passOtherOutStationWeightPercent, 0.0d);
        double weightSum = lenWeightPercent + congWeightPercent;
        if (weightSum <= 0) {
            weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
            return weights;
        }

        Map<Integer, StationProtocol> statusMap = new HashMap<>();
        try {
            DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
            if (deviceConfigService != null) {
                List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
                        .eq("device_type", String.valueOf(SlaveType.Devp)));
                for (DeviceConfig deviceConfig : devpList) {
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
                    if (stationThread == null) {
                        continue;
                    }
                    Map<Integer, StationProtocol> m = stationThread.getStatusMap();
                    if (m != null && !m.isEmpty()) {
                        statusMap.putAll(m);
                    }
                }
            }
        } catch (Exception ignore) {}

        Set<Integer> outStationIdSet = loadAllOutStationIdSet();

        double lenWeightPercent = 50.0;
        double congWeightPercent = 50.0;
        double passOtherOutStationWeightPercent = 100.0;
        boolean forceSkipPassOtherOutStation = false;
        try {
            ConfigService configService = SpringUtils.getBean(ConfigService.class);
            if (configService != null) {
                lenWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_LEN_WEIGHT_PERCENT, lenWeightPercent);
                congWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_CONG_WEIGHT_PERCENT, congWeightPercent);
                passOtherOutStationWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT, passOtherOutStationWeightPercent);
                forceSkipPassOtherOutStation = loadBooleanConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP, false);
            }
        } catch (Exception ignore) {}

        List<List<NavigateNode>> candidates = new ArrayList<>();
        List<Integer> lens = new ArrayList<>();
        List<Integer> tasksList = new ArrayList<>();
        List<Double> congs = new ArrayList<>();
        List<Integer> passOtherOutStationCounts = new ArrayList<>();
        int skippedByPassOtherOutStation = 0;

        for (List<NavigateNode> path : allList) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            int len = path.size();
            int tasks = 0;
            HashSet<Integer> stationIdSet = new HashSet<>();
            for (NavigateNode node : path) {
                JSONObject value = null;
                try {
                    value = JSON.parseObject(node.getNodeValue());
                } catch (Exception ignore) {}
                if (value == null) {
                    continue;
                }
                Integer stationId = value.getInteger("stationId");
                if (stationId == null) {
                    continue;
                }
                if (!stationIdSet.add(stationId)) {
                    continue;
                }
                StationProtocol protocol = statusMap.get(stationId);
                if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
                    tasks++;
                }
            }
            double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
            int passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
            if (forceSkipPassOtherOutStation && passOtherOutStationCount > 0) {
                skippedByPassOtherOutStation++;
                News.info("[WCS Debug] 站点路径候选已跳过，因经过其他出库站点,startStationId={},endStationId={},passOtherOutStationCount={}",
                        extractStationId(path.get(0)),
                        extractStationId(path.get(path.size() - 1)),
                        passOtherOutStationCount);
                continue;
            }
            candidates.add(path);
            lens.add(len);
            tasksList.add(tasks);
            congs.add(cong);
            passOtherOutStationCounts.add(passOtherOutStationCount);
        }

        if (candidates.isEmpty()) {
            if (forceSkipPassOtherOutStation && skippedByPassOtherOutStation > 0) {
                News.info("[WCS Debug] 所有站点路径候选均因经过其他出库站点被强制跳过");
                return new ArrayList<>();
            }
            return allList.get(0);
        }

        int minLen = Integer.MAX_VALUE;
        int maxLen = Integer.MIN_VALUE;
        double minCong = Double.MAX_VALUE;
        double maxCong = -Double.MAX_VALUE;
        int minPassOtherOutStationCount = Integer.MAX_VALUE;
        int maxPassOtherOutStationCount = Integer.MIN_VALUE;
        for (int i = 0; i < candidates.size(); i++) {
            int l = lens.get(i);
            double c = congs.get(i);
            int p = passOtherOutStationCounts.get(i);
            if (l < minLen) minLen = l;
            if (l > maxLen) maxLen = l;
            if (c < minCong) minCong = c;
            if (c > maxCong) maxCong = c;
            if (p < minPassOtherOutStationCount) minPassOtherOutStationCount = p;
            if (p > maxPassOtherOutStationCount) maxPassOtherOutStationCount = p;
        }

        double weightSum = lenWeightPercent + congWeightPercent + passOtherOutStationWeightPercent;
        double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
        double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
        double passOtherOutStationW = weightSum <= 0 ? 0.0 : passOtherOutStationWeightPercent / weightSum;

        List<NavigateNode> best = null;
        double bestCost = Double.MAX_VALUE;
        int bestPassOtherOutStationCount = Integer.MAX_VALUE;
        int bestTasks = Integer.MAX_VALUE;
        int bestLen = Integer.MAX_VALUE;
        for (int i = 0; i < candidates.size(); i++) {
            int l = lens.get(i);
            int t = tasksList.get(i);
            double c = congs.get(i);
            int p = passOtherOutStationCounts.get(i);
            //归一化
            double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
            double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
            double passOtherOutStationNorm = (maxPassOtherOutStationCount - minPassOtherOutStationCount) <= 0
                    ? 0.0
                    : (p - minPassOtherOutStationCount) / (double) (maxPassOtherOutStationCount - minPassOtherOutStationCount);
            //获取权重
            double cost = lenNorm * lenW + congNorm * congW + passOtherOutStationNorm * passOtherOutStationW;
            if (cost < bestCost
                    || (cost == bestCost && p < bestPassOtherOutStationCount)
                    || (cost == bestCost && p == bestPassOtherOutStationCount && t < bestTasks)
                    || (cost == bestCost && p == bestPassOtherOutStationCount && t == bestTasks && l < bestLen)) {
                best = candidates.get(i);
                bestCost = cost;
                bestPassOtherOutStationCount = p;
                bestTasks = t;
                bestLen = l;
            }
        }

        if (best == null) {
            return allList.get(0);
        }
        return best;
        weights.lenWeightFactor = (lenWeightPercent / weightSum) * 2.0d;
        weights.congWeightFactor = (congWeightPercent / weightSum) * 2.0d;
        weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
        return weights;
    }

    private Set<Integer> loadAllOutStationIdSet() {
@@ -914,43 +974,6 @@
            return value.getInteger("stationId");
        } catch (Exception ignore) {}
        return null;
    }

    private double loadDoubleConfig(ConfigService configService, String code, double defaultValue) {
        if (configService == null || code == null) {
            return defaultValue;
        }
        Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
        if (config == null || config.getValue() == null) {
            return defaultValue;
        }
        String value = config.getValue().trim();
        if (value.endsWith("%")) {
            value = value.substring(0, value.length() - 1);
        }
        try {
            return Double.parseDouble(value);
        } catch (Exception ignore) {}
        return defaultValue;
    }

    private boolean loadBooleanConfig(ConfigService configService, String code, boolean defaultValue) {
        if (configService == null || code == null) {
            return defaultValue;
        }
        Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
        if (config == null || config.getValue() == null) {
            return defaultValue;
        }
        String value = config.getValue().trim();
        if (value.isEmpty()) {
            return defaultValue;
        }
        return "1".equals(value)
                || "true".equalsIgnoreCase(value)
                || "yes".equalsIgnoreCase(value)
                || "y".equalsIgnoreCase(value)
                || "on".equalsIgnoreCase(value);
    }

    //判断当前节点到下一个节点是否为拐点