#

Junjie

1 天以前 63a8366af4391d1717d7555ab6c01f984f501f7b

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

@@ -4,6 +4,7 @@
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
@@ -11,16 +12,22 @@
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;

@@ -36,18 +43,51 @@
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
import com.zy.core.trace.StationTaskTraceRegistry;

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

@Component
public class NavigateUtils {

    private static final double CONGESTION_BUSY_BASE = 1.0d;
    private static final double CONGESTION_ISSUED_RESERVE_BASE = 0.75d;
    private static final double CONGESTION_PENDING_QUEUE_BASE = 0.45d;
    private static final double CONGESTION_RUN_BLOCK_BASE = 1.5d;
    private static final double WAIT_BUSY_SECONDS = 10.0d;
    private static final double WAIT_ISSUED_RESERVE_SECONDS = 8.0d;
    private static final double WAIT_PENDING_QUEUE_SECONDS = 5.0d;
    private static final double WAIT_RUN_BLOCK_SECONDS = 30.0d;
    private static final int DEADLOCK_PREFIX_LOOKAHEAD = 6;

    @Autowired
    private BasStationService basStationService;
    @Autowired
    private BasStationOptService basStationOptService;
    @Autowired
    private StationPathPolicyService stationPathPolicyService;
    @Autowired
    private StationCycleCapacityService stationCycleCapacityService;
    @Autowired
    private StationTaskTraceRegistry stationTaskTraceRegistry;

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

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

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

    private synchronized List<NavigateNode> calcByStationId(Integer startStationId,
                                                            Integer endStationId,
                                                            Integer currentTaskNo,
                                                            boolean reachabilityOnly) {
        BasStation startStation = basStationService.getById(startStationId);
        if (startStation == null) {
            throw new CoolException("未找到该 起点 对应的站点数据");
@@ -101,7 +141,9 @@

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

        //去重
@@ -259,7 +301,42 @@
        return new StationPathResolvedPolicy();
    }

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

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

        List<List<NavigateNode>> filteredCandidates = applyRuleFilters(allList, ruleConfig, true);
        if (filteredCandidates.isEmpty() && hasWaypoint(ruleConfig) && !strictWaypoint(ruleConfig)) {
            filteredCandidates = applyRuleFilters(allList, ruleConfig, false);
            News.info("[WCS Debug] 站点路径可达性规则已降级，忽略关键途经点约束后重试");
        }
        if (filteredCandidates.isEmpty()) {
            if (resolvedPolicy.matchedRule()) {
                News.warn("站点路径规则命中但无可达路径，ruleCode={},startStationId={},endStationId={}",
                        resolvedPolicy.getRuleEntity() == null ? "" : resolvedPolicy.getRuleEntity().getRuleCode(),
                        startStationId, endStationId);
                return new ArrayList<>();
            }
            filteredCandidates = allList;
        }

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

    private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
                                                           StationPathResolvedPolicy resolvedPolicy,
                                                           Integer currentTaskNo,
                                                           Integer startStationId,
                                                           Integer endStationId) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();
        }
@@ -297,14 +374,22 @@

        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
        StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
        LoopMergeGuardContext loopMergeGuardContext = loadLoopMergeGuardContext();
        Set<LoopMergeEntry> mandatoryLoopMergeEntrySet = resolveMandatoryLoopMergeEntrySet(filteredCandidates, loopMergeGuardContext);
        Set<Integer> outStationIdSet = loadAllOutStationIdSet();
        List<PathCandidateMetrics> metricsList = new ArrayList<>();
        int skippedByOtherOutStation = 0;
        int skippedByLoopMergeGuard = 0;
        for (List<NavigateNode> path : filteredCandidates) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
            if (!isLoopMergePathAllowed(path, statusMap, trafficSnapshot, loopMergeGuardContext, mandatoryLoopMergeEntrySet)) {
                skippedByLoopMergeGuard++;
                continue;
            }
            PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
            if (globalPolicy.forceSkipPassOtherOutStation && metrics.passOtherOutStationCount > 0) {
                skippedByOtherOutStation++;
                continue;
@@ -314,8 +399,10 @@
        if (metricsList.isEmpty()) {
            if (globalPolicy.forceSkipPassOtherOutStation && skippedByOtherOutStation > 0) {
                News.warn("[WCS Debug] 站点路径候选全部被过滤，因经过其他出库站点,startStationId={},endStationId={}",
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
                        startStationId, endStationId);
            } else if (skippedByLoopMergeGuard > 0) {
                News.warn("[WCS Debug] 站点路径候选全部被过滤，因分叉口插入环线主干会影响主干道,startStationId={},endStationId={}",
                        startStationId, endStationId);
            }
            return new ArrayList<>();
        }
@@ -563,6 +650,7 @@
    private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
                                                       Map<Integer, StationProtocol> statusMap,
                                                       Map<Integer, Double> stationLoopLoadMap,
                                                       StationTrafficSnapshot trafficSnapshot,
                                                       StationPathProfileConfig profileConfig,
                                                       StationPathRuleConfig ruleConfig,
                                                       PathGlobalPolicy globalPolicy,
@@ -574,7 +662,10 @@
        metrics.liftTransferCount = countLiftTransferCount(path);

        List<Integer> stationIdList = extractStationIdList(path);
        metrics.busyStationCount = countBusyStationCount(stationIdList, statusMap);
        metrics.congestionScore = calcCongestionScore(stationIdList, trafficSnapshot);
        metrics.queueDepthScore = calcQueueDepthScore(stationIdList, trafficSnapshot);
        metrics.estimatedWaitSeconds = calcEstimatedWaitSeconds(stationIdList, trafficSnapshot);
        metrics.deadlockRiskScore = calcDeadlockRiskScore(stationIdList, trafficSnapshot);
        metrics.runBlockCount = countRunBlockCount(stationIdList, statusMap);
        metrics.loopPenalty = calcLoopPenalty(stationIdList, stationLoopLoadMap);
        metrics.passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
@@ -598,7 +689,10 @@
                        + softDeviationWeight * metrics.softDeviationCount;

        metrics.dynamicCost =
                safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.busyStationCount
                safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.congestionScore
                        + safeDouble(profileConfig.getS2QueueWeight(), 2.5d) * metrics.queueDepthScore
                        + safeDouble(profileConfig.getS2WaitWeight(), 1.5d) * (metrics.estimatedWaitSeconds / 60.0d)
                        + safeDouble(profileConfig.getS2DeadlockWeight(), 8.0d) * metrics.deadlockRiskScore
                        + safeDouble(profileConfig.getS2RunBlockWeight(), 10.0d) * metrics.runBlockCount
                        + safeDouble(profileConfig.getS2LoopLoadWeight(), 12.0d) * metrics.loopPenalty;
        return metrics;
@@ -622,6 +716,16 @@
        return count;
    }

    private int compareReachabilityPath(List<NavigateNode> left, List<NavigateNode> right) {
        int leftLen = left == null ? Integer.MAX_VALUE : left.size();
        int rightLen = right == null ? Integer.MAX_VALUE : right.size();
        int leftTurnCount = countTurnCount(left);
        int rightTurnCount = countTurnCount(right);
        int leftLiftCount = countLiftTransferCount(left);
        int rightLiftCount = countLiftTransferCount(right);
        return compareDouble(leftLen, rightLen, leftTurnCount, rightTurnCount, leftLiftCount, rightLiftCount);
    }

    private int countLiftTransferCount(List<NavigateNode> path) {
        int count = 0;
        for (NavigateNode node : safeList(path)) {
@@ -643,15 +747,67 @@
        return count;
    }

    private int countBusyStationCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
        int count = 0;
    private double calcCongestionScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
        if (trafficSnapshot == null || trafficSnapshot.congestionScoreMap.isEmpty()) {
            return 0.0d;
        }
        double score = 0.0d;
        for (Integer stationId : stationIdList) {
            StationProtocol protocol = statusMap.get(stationId);
            if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
                count++;
            score += trafficSnapshot.congestionScoreMap.getOrDefault(stationId, 0.0d);
        }
        return score;
    }

    private double calcQueueDepthScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
        if (trafficSnapshot == null || trafficSnapshot.queueDepthMap.isEmpty()) {
            return 0.0d;
        }
        double score = 0.0d;
        for (Integer stationId : stationIdList) {
            score += trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0);
        }
        return score;
    }

    private double calcEstimatedWaitSeconds(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
        if (trafficSnapshot == null || trafficSnapshot.estimatedWaitSecondsMap.isEmpty()) {
            return 0.0d;
        }
        double score = 0.0d;
        for (Integer stationId : stationIdList) {
            score += trafficSnapshot.estimatedWaitSecondsMap.getOrDefault(stationId, 0.0d);
        }
        return score;
    }

    private double calcDeadlockRiskScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
        if (trafficSnapshot == null || trafficSnapshot.traceRouteList.isEmpty() || stationIdList == null || stationIdList.size() <= 1) {
            return 0.0d;
        }
        List<Integer> candidateFutureStations = distinctPositiveStationIds(stationIdList.subList(1, stationIdList.size()));
        if (candidateFutureStations.isEmpty()) {
            return 0.0d;
        }

        double totalRisk = 0.0d;
        for (TraceRouteSnapshot routeSnapshot : trafficSnapshot.traceRouteList) {
            if (routeSnapshot == null) {
                continue;
            }
            OverlapMetrics pendingMetrics = calcOrderedOverlapMetrics(candidateFutureStations, routeSnapshot.pendingStationIds);
            OverlapMetrics issuedMetrics = calcOrderedOverlapMetrics(candidateFutureStations, routeSnapshot.issuedStationIds);

            totalRisk += pendingMetrics.sequentialRisk * 0.9d;
            totalRisk += issuedMetrics.sequentialRisk * 1.2d;
            totalRisk += pendingMetrics.sharedCount * 0.12d;
            totalRisk += issuedMetrics.sharedCount * 0.18d;

            int currentHitIndex = findFirstOverlapIndex(candidateFutureStations, routeSnapshot.currentStationId);
            if (currentHitIndex >= 0) {
                totalRisk += prefixRiskFactor(currentHitIndex) * 1.5d;
            }
        }
        return count;
        return totalRisk;
    }

    private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
@@ -846,6 +1002,792 @@
        return stationLoopLoadMap;
    }

    private LoopMergeGuardContext loadLoopMergeGuardContext() {
        LoopMergeGuardContext context = new LoopMergeGuardContext();
        try {
            if (stationCycleCapacityService == null) {
                return context;
            }
            StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
            if (capacityVo == null || capacityVo.getLoopList() == null || capacityVo.getLoopList().isEmpty()) {
                return context;
            }

            Map<Integer, Set<Integer>> stationGraph = loadUndirectedStationGraph();
            if (stationGraph.isEmpty()) {
                return context;
            }

            for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
                List<Integer> rawStationIdList = loopVo == null ? Collections.emptyList() : loopVo.getStationIdList();
                List<Integer> loopStationIdList = distinctPositiveStationIds(rawStationIdList);
                if (loopStationIdList.size() < 3) {
                    continue;
                }
                Set<Integer> loopStationSet = new HashSet<>(loopStationIdList);
                for (Integer stationId : loopStationSet) {
                    context.loopStationIdSet.add(stationId);
                    Set<Integer> graphNeighborSet = stationGraph.getOrDefault(stationId, Collections.emptySet());
                    Set<Integer> loopNeighborSet = new LinkedHashSet<>();
                    for (Integer neighborStationId : graphNeighborSet) {
                        if (neighborStationId != null && loopStationSet.contains(neighborStationId)) {
                            loopNeighborSet.add(neighborStationId);
                        }
                    }
                    if (!loopNeighborSet.isEmpty()) {
                        context.loopNeighborMap.computeIfAbsent(stationId, key -> new LinkedHashSet<>()).addAll(loopNeighborSet);
                    }
                }
            }
        } catch (Exception ignore) {
        }
        return context;
    }

    private Set<LoopMergeEntry> resolveMandatoryLoopMergeEntrySet(List<List<NavigateNode>> candidatePathList,
                                                                  LoopMergeGuardContext loopMergeGuardContext) {
        if (candidatePathList == null || candidatePathList.isEmpty()
                || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
            return Collections.emptySet();
        }

        Set<LoopMergeEntry> intersectionSet = null;
        for (List<NavigateNode> path : candidatePathList) {
            Set<LoopMergeEntry> entrySet = extractLoopMergeEntrySet(path, loopMergeGuardContext);
            if (intersectionSet == null) {
                intersectionSet = new HashSet<>(entrySet);
            } else {
                intersectionSet.retainAll(entrySet);
            }
            if (intersectionSet.isEmpty()) {
                return Collections.emptySet();
            }
        }
        return intersectionSet == null ? Collections.emptySet() : intersectionSet;
    }

    private Set<LoopMergeEntry> extractLoopMergeEntrySet(List<NavigateNode> path,
                                                         LoopMergeGuardContext loopMergeGuardContext) {
        Set<LoopMergeEntry> result = new HashSet<>();
        if (path == null || path.size() < 2 || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
            return result;
        }

        List<Integer> stationIdList = extractStationIdList(path);
        for (int i = 1; i < stationIdList.size(); i++) {
            Integer prevStationId = stationIdList.get(i - 1);
            Integer currentStationId = stationIdList.get(i);
            if (prevStationId == null || currentStationId == null) {
                continue;
            }
            if (loopMergeGuardContext.loopStationIdSet.contains(prevStationId)
                    || !loopMergeGuardContext.loopStationIdSet.contains(currentStationId)) {
                continue;
            }
            result.add(new LoopMergeEntry(prevStationId, currentStationId));
        }
        return result;
    }

    private Map<Integer, Set<Integer>> loadUndirectedStationGraph() {
        Map<Integer, Set<Integer>> graph = new HashMap<>();
        List<Integer> levList = loadStationLevList();
        if (levList.isEmpty()) {
            return graph;
        }

        NavigateSolution navigateSolution = new NavigateSolution();
        for (Integer lev : levList) {
            if (lev == null) {
                continue;
            }
            List<List<NavigateNode>> stationMap;
            try {
                stationMap = navigateSolution.getStationMap(lev);
            } catch (Exception ignore) {
                continue;
            }
            if (stationMap == null || stationMap.isEmpty()) {
                continue;
            }

            for (List<NavigateNode> row : stationMap) {
                for (NavigateNode node : safeList(row)) {
                    Integer stationId = extractStationId(node);
                    if (stationId == null) {
                        continue;
                    }
                    graph.computeIfAbsent(stationId, key -> new LinkedHashSet<>());
                    List<NavigateNode> nextNodeList = navigateSolution.extend_current_node(stationMap, node);
                    for (NavigateNode nextNode : safeList(nextNodeList)) {
                        Integer nextStationId = extractStationId(nextNode);
                        if (nextStationId == null || stationId.equals(nextStationId)) {
                            continue;
                        }
                        graph.computeIfAbsent(nextStationId, key -> new LinkedHashSet<>());
                        graph.get(stationId).add(nextStationId);
                        graph.get(nextStationId).add(stationId);
                    }
                }
            }
        }
        return graph;
    }

    private List<Integer> loadStationLevList() {
        List<Integer> levList = new ArrayList<>();
        if (basStationService == null) {
            return levList;
        }
        try {
            List<BasStation> stationList = basStationService.list(new QueryWrapper<BasStation>().select("station_lev"));
            Set<Integer> seen = new HashSet<>();
            for (BasStation station : safeList(stationList)) {
                Integer lev = station == null ? null : station.getStationLev();
                if (lev != null && seen.add(lev)) {
                    levList.add(lev);
                }
            }
            Collections.sort(levList);
        } catch (Exception ignore) {
        }
        return levList;
    }

    private StationTrafficSnapshot loadStationTrafficSnapshot(Map<Integer, StationProtocol> statusMap, Integer currentTaskNo) {
        StationTrafficSnapshot snapshot = new StationTrafficSnapshot();
        Map<Integer, Integer> busyMap = new HashMap<>();
        Map<Integer, Integer> issuedReserveMap = new HashMap<>();
        Map<Integer, Integer> pendingQueueMap = new HashMap<>();

        if (statusMap != null && !statusMap.isEmpty()) {
            for (Map.Entry<Integer, StationProtocol> entry : statusMap.entrySet()) {
                Integer stationId = entry.getKey();
                StationProtocol protocol = entry.getValue();
                if (stationId == null || protocol == null) {
                    continue;
                }
                if (protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
                    busyMap.put(stationId, 1);
                }
            }
        }

        for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo, statusMap)) {
            if (traceVo == null) {
                continue;
            }
            List<Integer> pendingStationIds = distinctPositiveStationIds(traceVo.getPendingStationIds());
            List<Integer> issuedStationIds = distinctPositiveStationIds(traceVo.getLatestIssuedSegmentPath());
            TraceRouteSnapshot routeSnapshot = new TraceRouteSnapshot();
            routeSnapshot.taskNo = traceVo.getTaskNo();
            routeSnapshot.currentStationId = traceVo.getCurrentStationId();
            routeSnapshot.pendingStationIds = pendingStationIds;
            routeSnapshot.issuedStationIds = issuedStationIds;
            snapshot.traceRouteList.add(routeSnapshot);
            Set<Integer> pendingSet = new HashSet<>(pendingStationIds);
            for (Integer stationId : issuedStationIds) {
                if (stationId == null || !pendingSet.contains(stationId)) {
                    continue;
                }
                increaseIntMap(issuedReserveMap, stationId, 1);
            }
            Set<Integer> issuedSet = new HashSet<>(issuedStationIds);
            for (Integer stationId : pendingStationIds) {
                if (stationId == null || issuedSet.contains(stationId)) {
                    continue;
                }
                increaseIntMap(pendingQueueMap, stationId, 1);
            }
        }

        Set<Integer> stationIdSet = new HashSet<>();
        stationIdSet.addAll(busyMap.keySet());
        stationIdSet.addAll(issuedReserveMap.keySet());
        stationIdSet.addAll(pendingQueueMap.keySet());
        if (statusMap != null) {
            stationIdSet.addAll(statusMap.keySet());
        }

        for (Integer stationId : stationIdSet) {
            if (stationId == null) {
                continue;
            }
            int busyCount = busyMap.getOrDefault(stationId, 0);
            int issuedReserveCount = issuedReserveMap.getOrDefault(stationId, 0);
            int pendingQueueCount = pendingQueueMap.getOrDefault(stationId, 0);
            boolean runBlock = false;
            if (statusMap != null) {
                StationProtocol protocol = statusMap.get(stationId);
                runBlock = protocol != null && protocol.isRunBlock();
            }

            int queueDepth = issuedReserveCount + pendingQueueCount;
            double congestionScore = busyCount * CONGESTION_BUSY_BASE
                    + issuedReserveCount * CONGESTION_ISSUED_RESERVE_BASE
                    + pendingQueueCount * CONGESTION_PENDING_QUEUE_BASE
                    + (runBlock ? CONGESTION_RUN_BLOCK_BASE : 0.0d);
            double estimatedWaitSeconds = busyCount * WAIT_BUSY_SECONDS
                    + issuedReserveCount * WAIT_ISSUED_RESERVE_SECONDS
                    + pendingQueueCount * WAIT_PENDING_QUEUE_SECONDS
                    + (runBlock ? WAIT_RUN_BLOCK_SECONDS : 0.0d);

            if (queueDepth > 0) {
                snapshot.queueDepthMap.put(stationId, queueDepth);
            }
            if (congestionScore > 0.0d) {
                snapshot.congestionScoreMap.put(stationId, congestionScore);
            }
            if (estimatedWaitSeconds > 0.0d) {
                snapshot.estimatedWaitSecondsMap.put(stationId, estimatedWaitSeconds);
            }
        }
        return snapshot;
    }

    private boolean isLoopMergePathAllowed(List<NavigateNode> path,
                                           Map<Integer, StationProtocol> statusMap,
                                           StationTrafficSnapshot trafficSnapshot,
                                           LoopMergeGuardContext loopMergeGuardContext,
                                           Set<LoopMergeEntry> mandatoryLoopMergeEntrySet) {
        if (path == null || path.size() < 2 || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
            return true;
        }

        List<Integer> stationIdList = extractStationIdList(path);
        if (stationIdList.size() < 2) {
            return true;
        }

        for (int i = 1; i < stationIdList.size(); i++) {
            Integer prevStationId = stationIdList.get(i - 1);
            Integer currentStationId = stationIdList.get(i);
            if (prevStationId == null || currentStationId == null) {
                continue;
            }
            if (loopMergeGuardContext.loopStationIdSet.contains(prevStationId)
                    || !loopMergeGuardContext.loopStationIdSet.contains(currentStationId)) {
                continue;
            }

            Set<Integer> trunkNeighborSet = loopMergeGuardContext.loopNeighborMap.getOrDefault(currentStationId, Collections.emptySet());
            if (trunkNeighborSet.size() < 2) {
                continue;
            }

            LoopMergeEntry currentEntry = new LoopMergeEntry(prevStationId, currentStationId);
            for (Integer trunkNeighborStationId : trunkNeighborSet) {
                if (isStationOccupiedForLoopMerge(trunkNeighborStationId, statusMap, trafficSnapshot)) {
                    return false;
                }
            }
            boolean mandatoryEntry = mandatoryLoopMergeEntrySet != null && mandatoryLoopMergeEntrySet.contains(currentEntry);
            if (!mandatoryEntry && !isLoopTrunkVeryIdle(currentStationId, loopMergeGuardContext, statusMap, trafficSnapshot)) {
                return false;
            }
        }
        return true;
    }

    private boolean isLoopTrunkVeryIdle(Integer mergeStationId,
                                        LoopMergeGuardContext loopMergeGuardContext,
                                        Map<Integer, StationProtocol> statusMap,
                                        StationTrafficSnapshot trafficSnapshot) {
        if (mergeStationId == null || loopMergeGuardContext == null) {
            return false;
        }
        Set<Integer> guardStationIdSet = collectLoopNeighborWindow(mergeStationId, loopMergeGuardContext, 2);
        if (guardStationIdSet.isEmpty()) {
            return false;
        }
        for (Integer stationId : guardStationIdSet) {
            if (isStationOccupiedForLoopMerge(stationId, statusMap, trafficSnapshot)) {
                return false;
            }
        }
        return true;
    }

    private Set<Integer> collectLoopNeighborWindow(Integer centerStationId,
                                                   LoopMergeGuardContext loopMergeGuardContext,
                                                   int depth) {
        Set<Integer> visited = new LinkedHashSet<>();
        if (centerStationId == null || depth < 0 || loopMergeGuardContext == null) {
            return visited;
        }

        Set<Integer> frontier = new LinkedHashSet<>();
        frontier.add(centerStationId);
        visited.add(centerStationId);
        for (int step = 0; step < depth; step++) {
            Set<Integer> nextFrontier = new LinkedHashSet<>();
            for (Integer stationId : frontier) {
                for (Integer neighborStationId : loopMergeGuardContext.loopNeighborMap.getOrDefault(stationId, Collections.emptySet())) {
                    if (neighborStationId != null && visited.add(neighborStationId)) {
                        nextFrontier.add(neighborStationId);
                    }
                }
            }
            if (nextFrontier.isEmpty()) {
                break;
            }
            frontier = nextFrontier;
        }
        return visited;
    }

    private boolean isStationOccupiedForLoopMerge(Integer stationId,
                                                  Map<Integer, StationProtocol> statusMap,
                                                  StationTrafficSnapshot trafficSnapshot) {
        if (stationId == null) {
            return false;
        }

        StationProtocol protocol = statusMap == null ? null : statusMap.get(stationId);
        if (protocol != null) {
            if ((protocol.getTaskNo() != null && protocol.getTaskNo() > 0) || protocol.isRunBlock()) {
                return true;
            }
        }

        if (trafficSnapshot == null) {
            return false;
        }
        if (trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0) > 0) {
            return true;
        }

        for (TraceRouteSnapshot routeSnapshot : trafficSnapshot.traceRouteList) {
            if (routeSnapshot == null) {
                continue;
            }
            if (stationId.equals(routeSnapshot.currentStationId)) {
                return true;
            }
            if (containsStation(routeSnapshot.issuedStationIds, stationId)
                    || containsStation(routeSnapshot.pendingStationIds, stationId)) {
                return true;
            }
        }
        return false;
    }

    private boolean containsStation(List<Integer> stationIdList, Integer stationId) {
        if (stationId == null || stationIdList == null || stationIdList.isEmpty()) {
            return false;
        }
        for (Integer currentStationId : stationIdList) {
            if (stationId.equals(currentStationId)) {
                return true;
            }
        }
        return false;
    }

    private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo, Map<Integer, StationProtocol> statusMap) {
        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) {
            }
        }
        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) {
        if (traceVo == null) {
            return false;
        }
        String status = traceVo.getStatus();
        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) {
        if (stationIdList == null || stationIdList.isEmpty()) {
            return Collections.emptyList();
        }
        List<Integer> result = new ArrayList<>();
        Set<Integer> seen = new HashSet<>();
        for (Integer stationId : stationIdList) {
            if (stationId == null || stationId <= 0) {
                continue;
            }
            if (seen.add(stationId)) {
                result.add(stationId);
            }
        }
        return result;
    }

    private void increaseIntMap(Map<Integer, Integer> target, Integer stationId, int delta) {
        if (target == null || stationId == null || delta == 0) {
            return;
        }
        target.put(stationId, target.getOrDefault(stationId, 0) + delta);
    }

    private OverlapMetrics calcOrderedOverlapMetrics(List<Integer> candidateStations, List<Integer> routeStations) {
        OverlapMetrics metrics = new OverlapMetrics();
        if (candidateStations == null || candidateStations.isEmpty() || routeStations == null || routeStations.isEmpty()) {
            return metrics;
        }

        Map<Integer, Integer> routeIndexMap = new HashMap<>();
        for (int i = 0; i < routeStations.size(); i++) {
            Integer stationId = routeStations.get(i);
            if (stationId != null && !routeIndexMap.containsKey(stationId)) {
                routeIndexMap.put(stationId, i);
            }
        }
        if (routeIndexMap.isEmpty()) {
            return metrics;
        }

        for (int i = 0; i < candidateStations.size(); i++) {
            Integer stationId = candidateStations.get(i);
            if (stationId != null && routeIndexMap.containsKey(stationId)) {
                metrics.sharedCount++;
            }
        }

        for (int candidateStart = 0; candidateStart < candidateStations.size(); candidateStart++) {
            Integer firstStation = candidateStations.get(candidateStart);
            Integer routeStart = routeIndexMap.get(firstStation);
            if (routeStart == null) {
                continue;
            }

            int length = 1;
            int prevRouteIndex = routeStart;
            for (int j = candidateStart + 1; j < candidateStations.size(); j++) {
                Integer nextRouteIndex = routeIndexMap.get(candidateStations.get(j));
                if (nextRouteIndex == null || nextRouteIndex.intValue() != prevRouteIndex + 1) {
                    break;
                }
                length++;
                prevRouteIndex = nextRouteIndex;
            }

            double risk = length * prefixRiskFactor(candidateStart);
            if (risk > metrics.sequentialRisk) {
                metrics.sequentialRisk = risk;
            }
        }
        return metrics;
    }

    private int findFirstOverlapIndex(List<Integer> stationIdList, Integer targetStationId) {
        if (stationIdList == null || stationIdList.isEmpty() || targetStationId == null) {
            return -1;
        }
        for (int i = 0; i < stationIdList.size(); i++) {
            Integer stationId = stationIdList.get(i);
            if (targetStationId.equals(stationId)) {
                return i;
            }
        }
        return -1;
    }

    private double prefixRiskFactor(int candidateIndex) {
        if (candidateIndex < 0) {
            return 0.0d;
        }
        if (candidateIndex >= DEADLOCK_PREFIX_LOOKAHEAD) {
            return 0.15d;
        }
        return (double) (DEADLOCK_PREFIX_LOOKAHEAD - candidateIndex) / (double) DEADLOCK_PREFIX_LOOKAHEAD;
    }

    private int compareDouble(double left, double right, int thenLeft1, int thenRight1, int thenLeft2, int thenRight2) {
        int result = Double.compare(left, right);
        if (result != 0) {
@@ -880,7 +1822,10 @@
        private int turnCount;
        private int liftTransferCount;
        private int passOtherOutStationCount;
        private int busyStationCount;
        private double congestionScore;
        private double queueDepthScore;
        private double estimatedWaitSeconds;
        private double deadlockRiskScore;
        private int runBlockCount;
        private int softDeviationCount;
        private double loopPenalty;
@@ -888,6 +1833,71 @@
        private double dynamicCost;
    }

    private static class StationTrafficSnapshot {
        private final Map<Integer, Double> congestionScoreMap = new HashMap<>();
        private final Map<Integer, Integer> queueDepthMap = new HashMap<>();
        private final Map<Integer, Double> estimatedWaitSecondsMap = new HashMap<>();
        private final List<TraceRouteSnapshot> traceRouteList = new ArrayList<>();
    }

    private static class TraceRouteSnapshot {
        private Integer taskNo;
        private Integer currentStationId;
        private List<Integer> pendingStationIds = Collections.emptyList();
        private List<Integer> issuedStationIds = Collections.emptyList();
    }

    private static class OverlapMetrics {
        private int sharedCount;
        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 LoopMergeGuardContext {
        private final Set<Integer> loopStationIdSet = new HashSet<>();
        private final Map<Integer, Set<Integer>> loopNeighborMap = new HashMap<>();
    }

    private static class LoopMergeEntry {
        private final Integer fromStationId;
        private final Integer toStationId;

        private LoopMergeEntry(Integer fromStationId, Integer toStationId) {
            this.fromStationId = fromStationId;
            this.toStationId = toStationId;
        }

        @Override
        public boolean equals(Object obj) {
            if (this == obj) {
                return true;
            }
            if (!(obj instanceof LoopMergeEntry)) {
                return false;
            }
            LoopMergeEntry other = (LoopMergeEntry) obj;
            return (fromStationId == null ? other.fromStationId == null : fromStationId.equals(other.fromStationId))
                    && (toStationId == null ? other.toStationId == null : toStationId.equals(other.toStationId));
        }

        @Override
        public int hashCode() {
            int result = fromStationId == null ? 0 : fromStationId.hashCode();
            result = 31 * result + (toStationId == null ? 0 : toStationId.hashCode());
            return result;
        }
    }

    private static class PathGlobalPolicy {
        private double lenWeightFactor = 1.0d;
        private double congWeightFactor = 1.0d;