#

Junjie

15 小时以前 3372040097ad2c01aeb6fd6485e89f19bf81b316

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

@@ -6,16 +6,27 @@
import java.util.HashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;

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.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.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 org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.common.model.NavigateNode;
@@ -25,17 +36,19 @@
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 {

    @Autowired
    private BasStationService basStationService;
    @Autowired
    private StationPathPolicyService stationPathPolicyService;
    @Autowired
    private StationCycleCapacityService stationCycleCapacityService;

    public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
        BasStation startStation = basStationService.selectById(startStationId);
        BasStation startStation = basStationService.getById(startStationId);
        if (startStation == null) {
            throw new CoolException("未找到该 起点 对应的站点数据");
        }
@@ -54,18 +67,41 @@
            throw new CoolException("未找到该 终点 对应的节点");
        }

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

        long startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
        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<>();
        }
        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        allList = filterNonAutoStationPaths(allList, statusMap);
        if (allList.isEmpty()) {
            News.info("[WCS Debug] 站点路径候选全部被过滤，存在非自动站点,startStationId={},endStationId={}", startStationId, endStationId);
            return new ArrayList<>();
        }
        News.info("[WCS Debug] 站点路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);

        startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径权重开始分析,startStationId={},endStationId={}", startStationId, endStationId);
        List<NavigateNode> list = 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
@@ -84,6 +120,20 @@
        for (int i = 0; i < fitlerList.size(); i++) {
            NavigateNode currentNode = fitlerList.get(i);
            currentNode.setIsInflectionPoint(false);
            currentNode.setIsLiftTransferPoint(false);

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

            NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
            NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
@@ -195,139 +245,735 @@
        return liftStationList;
    }

    public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
    private StationPathResolvedPolicy resolveStationPathPolicy(Integer startStationId, Integer endStationId) {
        try {
            if (stationPathPolicyService != null) {
                StationPathResolvedPolicy resolved = stationPathPolicyService.resolvePolicy(startStationId, endStationId);
                if (resolved != null) {
                    return resolved;
                }
            }
        } catch (Exception e) {
            News.warn("站点路径策略加载失败，回退默认 twoStage: {}", e.getMessage());
        }
        return new StationPathResolvedPolicy();
    }

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

        Map<Integer, StationProtocol> statusMap = new HashMap<>();
        try {
            DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
            if (deviceConfigService != null) {
                List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<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);
                    }
                }
        StationPathRuleConfig ruleConfig = resolvedPolicy.getRuleConfig() == null
                ? new StationPathRuleConfig()
                : resolvedPolicy.getRuleConfig();
        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()) {
                News.warn("站点路径规则命中但无可行路径，ruleCode={}",
                        resolvedPolicy.getRuleEntity() == null ? "" : resolvedPolicy.getRuleEntity().getRuleCode());
                return new ArrayList<>();
            }
        } catch (Exception ignore) {}
            filteredCandidates = allList;
        }

        List<List<NavigateNode>> candidates = new ArrayList<>();
        List<Integer> lens = new ArrayList<>();
        List<Integer> tasksList = new ArrayList<>();
        List<Double> congs = new ArrayList<>();
        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;
            }
            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<>();
        }

        metricsList.sort((a, b) -> compareDouble(a.staticCost, b.staticCost, a.turnCount, b.turnCount, a.pathLen, b.pathLen));
        PathCandidateMetrics preferred = metricsList.get(0);
        int maxLen = (int) Math.ceil(preferred.pathLen * safeDouble(profileConfig.getS1MaxLenRatio(), 1.15d));
        int maxTurns = preferred.turnCount + safeInt(profileConfig.getS1MaxTurnDiff(), 1);

        List<PathCandidateMetrics> stage1Selected = new ArrayList<>();
        for (PathCandidateMetrics metrics : metricsList) {
            if (metrics.pathLen <= maxLen && metrics.turnCount <= maxTurns) {
                stage1Selected.add(metrics);
            }
        }
        if (stage1Selected.isEmpty()) {
            stage1Selected.addAll(metricsList);
        }

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

        stage1Selected.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
        return stage1Selected.get(0).path;
    }

    private List<List<NavigateNode>> applyRuleFilters(List<List<NavigateNode>> allList,
                                                      StationPathRuleConfig ruleConfig,
                                                      boolean includeWaypoint) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();
        }
        if (ruleConfig == null) {
            return allList;
        }

        List<List<NavigateNode>> result = new ArrayList<>();
        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++;
            List<Integer> stationIdList = extractStationIdList(path);
            if (!matchHardConstraint(stationIdList, ruleConfig.getHard())) {
                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);
        }
        return result;
    }

    private boolean matchHardConstraint(List<Integer> stationIdList, StationPathRuleConfig.HardConstraint hard) {
        if (stationIdList == null) {
            return false;
        }
        if (hard == null) {
            return true;
        }
        Set<Integer> stationIdSet = new HashSet<>(stationIdList);
        for (Integer stationId : safeList(hard.getMustPassStations())) {
            if (stationId != null && !stationIdSet.contains(stationId)) {
                return false;
            }
        }
        for (Integer stationId : safeList(hard.getForbidStations())) {
            if (stationId != null && stationIdSet.contains(stationId)) {
                return false;
            }
        }
        for (String edge : safeList(hard.getMustPassEdges())) {
            if (notBlank(edge) && !containsEdge(stationIdList, edge)) {
                return false;
            }
        }
        for (String edge : safeList(hard.getForbidEdges())) {
            if (notBlank(edge) && containsEdge(stationIdList, edge)) {
                return false;
            }
        }
        return true;
    }

    private boolean matchWaypointConstraint(List<Integer> stationIdList, StationPathRuleConfig.WaypointConstraint waypoint) {
        if (waypoint == null || waypoint.getStations() == null || waypoint.getStations().isEmpty()) {
            return true;
        }
        int cursor = 0;
        for (Integer stationId : stationIdList) {
            Integer expected = waypoint.getStations().get(cursor);
            if (expected != null && expected.equals(stationId)) {
                cursor++;
                if (cursor >= waypoint.getStations().size()) {
                    return true;
                }
            }
            double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
            candidates.add(path);
            lens.add(len);
            tasksList.add(tasks);
            congs.add(cong);
        }
        return false;
    }

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

    private boolean hasWaypoint(StationPathRuleConfig ruleConfig) {
        return ruleConfig != null
                && ruleConfig.getWaypoint() != null
                && ruleConfig.getWaypoint().getStations() != null
                && !ruleConfig.getWaypoint().getStations().isEmpty();
    }

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

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

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

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

        if (candidates.isEmpty()) {
            return allList.get(0);
        }
        List<Integer> sequence = new ArrayList<>();
        appendGuideStation(sequence, startStationId);

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

        //长度权重百分比
        double lenWeightPercent = 50.0;
        //拥堵权重百分比
        double congWeightPercent = 50.0;
        try {
            ConfigService configService = SpringUtils.getBean(ConfigService.class);
            if (configService != null) {
                Config cfgLen = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathLenWeightPercent"));
                if (cfgLen != null && cfgLen.getValue() != null) {
                    String v = cfgLen.getValue().trim();
                    if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
                    try { lenWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
        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));
                }
                Config cfgCong = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathCongWeightPercent"));
                if (cfgCong != null && cfgCong.getValue() != null) {
                    String v = cfgCong.getValue().trim();
                    if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
                    try { congWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
                if (sequence.get(sequence.size() - 1).equals(endStationId)) {
                    return sequence;
                }
            }
            sequence.clear();
            appendGuideStation(sequence, startStationId);
        }

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

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

    private boolean containsEdge(List<Integer> stationIdList, String edgeText) {
        int[] edge = parseEdge(edgeText);
        if (edge == null) {
            return false;
        }
        for (int i = 0; i < stationIdList.size() - 1; i++) {
            Integer current = stationIdList.get(i);
            Integer next = stationIdList.get(i + 1);
            if (current != null && next != null && current == edge[0] && next == edge[1]) {
                return true;
            }
        }
        return false;
    }

    private int[] parseEdge(String edgeText) {
        if (!notBlank(edgeText)) {
            return null;
        }
        String normalized = edgeText.replace(" ", "");
        String[] parts = normalized.split("->");
        if (parts.length != 2) {
            return null;
        }
        try {
            return new int[]{Integer.parseInt(parts[0]), Integer.parseInt(parts[1])};
        } catch (Exception ignore) {
            return null;
        }
    }

    private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
                                                       Map<Integer, StationProtocol> statusMap,
                                                       Map<Integer, Double> stationLoopLoadMap,
                                                       StationPathProfileConfig profileConfig,
                                                       StationPathRuleConfig ruleConfig,
                                                       PathGlobalPolicy globalPolicy,
                                                       Set<Integer> outStationIdSet) {
        PathCandidateMetrics metrics = new PathCandidateMetrics();
        metrics.path = path;
        metrics.pathLen = path.size();
        metrics.turnCount = countTurnCount(path);
        metrics.liftTransferCount = countLiftTransferCount(path);

        List<Integer> stationIdList = extractStationIdList(path);
        metrics.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 ? null : ruleConfig.getSoft());

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

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

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

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

    private int countTurnCount(List<NavigateNode> path) {
        if (path == null || path.size() < 3) {
            return 0;
        }
        int count = 0;
        for (int i = 1; i < path.size() - 1; i++) {
            NavigateNode prev = path.get(i - 1);
            NavigateNode next = path.get(i + 1);
            if (prev == null || next == null) {
                continue;
            }
            if (prev.getX() != next.getX() && prev.getY() != next.getY()) {
                count++;
            }
        }
        return count;
    }

    private int countLiftTransferCount(List<NavigateNode> path) {
        int count = 0;
        for (NavigateNode node : safeList(path)) {
            try {
                JSONObject valueObject = JSON.parseObject(node.getNodeValue());
                if (valueObject == null) {
                    continue;
                }
                Object isLiftTransfer = valueObject.get("isLiftTransfer");
                if (isLiftTransfer != null) {
                    String text = String.valueOf(isLiftTransfer);
                    if ("1".equals(text) || "true".equalsIgnoreCase(text)) {
                        count++;
                    }
                }
            } catch (Exception ignore) {
            }
        }
        return count;
    }

    private int countBusyStationCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
        int count = 0;
        for (Integer stationId : stationIdList) {
            StationProtocol protocol = statusMap.get(stationId);
            if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
                count++;
            }
        }
        return count;
    }

    private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
        int count = 0;
        for (Integer stationId : stationIdList) {
            StationProtocol protocol = statusMap.get(stationId);
            if (protocol != null && protocol.isRunBlock()) {
                count++;
            }
        }
        return count;
    }

    private double calcLoopPenalty(List<Integer> stationIdList, Map<Integer, Double> stationLoopLoadMap) {
        double maxLoad = 0.0d;
        for (Integer stationId : stationIdList) {
            Double load = stationLoopLoadMap.get(stationId);
            if (load != null && load > maxLoad) {
                maxLoad = load;
            }
        }
        return maxLoad;
    }

    private int calcSoftDeviationCount(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
        List<Integer> preferredPath = getSoftReferencePath(soft);
        if (preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
            return 0;
        }
        int missingCount = countMissingOrderedStations(stationIdList, preferredPath);
        if (missingCount > 0) {
            return missingCount;
        }
        if (isFullSoftPreferredPath(stationIdList, preferredPath)) {
            return countOffPathStations(stationIdList, preferredPath);
        }
        return 0;
    }

    private List<Integer> extractStationIdList(List<NavigateNode> path) {
        List<Integer> stationIdList = new ArrayList<>();
        Set<Integer> seen = new HashSet<>();
        for (NavigateNode node : safeList(path)) {
            Integer stationId = extractStationId(node);
            if (stationId == null) {
                continue;
            }
            if (seen.add(stationId)) {
                stationIdList.add(stationId);
            }
        }
        return stationIdList;
    }

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

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

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

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

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

    private List<List<NavigateNode>> filterNonAutoStationPaths(List<List<NavigateNode>> allList,
                                                               Map<Integer, StationProtocol> statusMap) {
        if (allList == null || allList.isEmpty() || statusMap == null || statusMap.isEmpty()) {
            return allList;
        }

        List<List<NavigateNode>> result = new ArrayList<>();
        for (List<NavigateNode> path : allList) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            if (containsNonAutoStation(path, statusMap)) {
                continue;
            }
            result.add(path);
        }
        return result;
    }

    private boolean containsNonAutoStation(List<NavigateNode> path, Map<Integer, StationProtocol> statusMap) {
        for (Integer stationId : extractStationIdList(path)) {
            StationProtocol protocol = statusMap.get(stationId);
            if (protocol != null && !protocol.isAutoing()) {
                return true;
            }
        }
        return false;
    }

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

    private Map<Integer, Double> loadStationLoopLoadMap() {
        Map<Integer, Double> stationLoopLoadMap = new HashMap<>();
        try {
            if (stationCycleCapacityService == null) {
                return stationLoopLoadMap;
            }
            StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
            if (capacityVo == null || capacityVo.getLoopList() == null) {
                return stationLoopLoadMap;
            }
            for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
                if (loopVo == null || loopVo.getStationIdList() == null) {
                    continue;
                }
                double currentLoad = loopVo.getCurrentLoad() == null ? 0.0d : loopVo.getCurrentLoad();
                for (Integer stationId : loopVo.getStationIdList()) {
                    if (stationId != null) {
                        stationLoopLoadMap.put(stationId, currentLoad);
                    }
                }
            }
        } catch (Exception ignore) {
        }
        return stationLoopLoadMap;
    }

    private int compareDouble(double left, double right, int thenLeft1, int thenRight1, int thenLeft2, int thenRight2) {
        int result = Double.compare(left, right);
        if (result != 0) {
            return result;
        }
        result = Integer.compare(thenLeft1, thenRight1);
        if (result != 0) {
            return result;
        }
        return Integer.compare(thenLeft2, thenRight2);
    }

    private int safeInt(Integer value, int defaultValue) {
        return value == null ? defaultValue : value;
    }

    private double safeDouble(Double value, double defaultValue) {
        return value == null ? defaultValue : value;
    }

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

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

    private static class PathCandidateMetrics {
        private List<NavigateNode> path;
        private int pathLen;
        private int turnCount;
        private int liftTransferCount;
        private int passOtherOutStationCount;
        private int busyStationCount;
        private int runBlockCount;
        private int softDeviationCount;
        private double loopPenalty;
        private double staticCost;
        private double dynamicCost;
    }

    private static class PathGlobalPolicy {
        private double lenWeightFactor = 1.0d;
        private double congWeightFactor = 1.0d;
        private double passOtherOutStationPenaltyWeight = 0.0d;
        private boolean forceSkipPassOtherOutStation = false;
    }
    private PathGlobalPolicy loadPathGlobalPolicy(StationPathProfileConfig profileConfig) {
        PathGlobalPolicy weights = new PathGlobalPolicy();
        StationPathProfileConfig source = profileConfig == null ? StationPathProfileConfig.defaultConfig() : profileConfig;
        double lenWeightPercent = safeDouble(source.getStationPathLenWeightPercent(), 50.0d);
        double congWeightPercent = safeDouble(source.getStationPathCongWeightPercent(), 50.0d);
        double passOtherOutStationWeightPercent = safeDouble(source.getStationPathPassOtherOutStationWeightPercent(), 100.0d);
        weights.forceSkipPassOtherOutStation = Boolean.TRUE.equals(source.getStationPathPassOtherOutStationForceSkip());

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

        weights.lenWeightFactor = (lenWeightPercent / weightSum) * 2.0d;
        weights.congWeightFactor = (congWeightPercent / weightSum) * 2.0d;
        weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
        return weights;
    }

    private Set<Integer> loadAllOutStationIdSet() {
        Set<Integer> outStationIdSet = new HashSet<>();
        try {
            BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
            if (basDevpService == null) {
                return outStationIdSet;
            }
            List<BasDevp> basDevpList = basDevpService.list(new QueryWrapper<BasDevp>().eq("status", 1));
            for (BasDevp basDevp : basDevpList) {
                List<StationObjModel> outStationList = basDevp.getOutStationList$();
                for (StationObjModel stationObjModel : outStationList) {
                    if (stationObjModel != null && stationObjModel.getStationId() != null) {
                        outStationIdSet.add(stationObjModel.getStationId());
                    }
                }
            }
        } catch (Exception ignore) {}
        return outStationIdSet;
    }

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

        List<NavigateNode> best = null;
        double bestCost = Double.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);
            //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);
            //获取权重
            double cost = lenNorm * lenW + congNorm * congW;
            if (cost < bestCost
                    || (cost == bestCost && t < bestTasks)
                    || (cost == bestCost && t == bestTasks && l < bestLen)) {
                best = candidates.get(i);
                bestCost = cost;
                bestTasks = t;
                bestLen = l;
    private int countPassOtherOutStations(List<NavigateNode> path, Set<Integer> outStationIdSet) {
        if (path == null || path.size() < 3 || outStationIdSet == null || outStationIdSet.isEmpty()) {
            return 0;
        }
        Integer startStationId = extractStationId(path.get(0));
        Integer endStationId = extractStationId(path.get(path.size() - 1));
        Set<Integer> hitStationIdSet = new HashSet<>();
        for (int i = 1; i < path.size() - 1; i++) {
            Integer stationId = extractStationId(path.get(i));
            if (stationId == null) {
                continue;
            }
            if (startStationId != null && startStationId.equals(stationId)) {
                continue;
            }
            if (endStationId != null && endStationId.equals(stationId)) {
                continue;
            }
            if (outStationIdSet.contains(stationId)) {
                hitStationIdSet.add(stationId);
            }
        }
        return hitStationIdSet.size();
    }

        if (best == null) {
            return allList.get(0);
    private Integer extractStationId(NavigateNode node) {
        if (node == null || node.getNodeValue() == null) {
            return null;
        }
        return best;
        try {
            JSONObject value = JSON.parseObject(node.getNodeValue());
            if (value == null) {
                return null;
            }
            return value.getInteger("stationId");
        } catch (Exception ignore) {}
        return null;
    }

    //判断当前节点到下一个节点是否为拐点