#dfs

Junjie

1 天以前 71d499e1ad7d4e2f2886627f7a57e0fadf0bc235

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

@@ -27,6 +27,8 @@
import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.service.StationPathPolicyService;
import com.zy.core.News;
import lombok.extern.slf4j.Slf4j;
import org.springframework.scheduling.annotation.Scheduled;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.enums.StationCommandType;
@@ -52,10 +54,11 @@
import java.util.LinkedHashMap;

@Component
@Slf4j
public class NavigateUtils {

    private static final long STATION_PATH_SLOW_LOG_THRESHOLD_MS = 500L;
    private static final long STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS = 200L;
    private static final long STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS = 2000L;
    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;
@@ -77,8 +80,23 @@
    @Autowired
    private StationTaskTraceRegistry stationTaskTraceRegistry;

    private final Object runtimeSnapshotLock = new Object();
    private volatile CachedStationPathRuntimeSnapshot cachedRuntimeSnapshot;

    private volatile CachedLoopMergeGuardContext cachedLoopMergeGuardContext;

    @Scheduled(fixedDelay = 1500, initialDelay = 3000)
    public void refreshStationPathCaches() {
        try {
            BaseRuntimeSnapshot snapshot = buildBaseRuntimeSnapshot(null);
            cachedRuntimeSnapshot = new CachedStationPathRuntimeSnapshot(System.currentTimeMillis(), snapshot);
        } catch (Exception ignore) {
        }
        try {
            LoopMergeGuardContext context = buildLoopMergeGuardContext();
            cachedLoopMergeGuardContext = new CachedLoopMergeGuardContext(System.currentTimeMillis(), context);
        } catch (Exception ignore) {
        }
    }

    public List<NavigateNode> calcOptimalPathByStationId(Integer startStationId,
                                                         Integer endStationId,
@@ -95,29 +113,59 @@
                                                                 Integer endStationId,
                                                                 Integer currentTaskNo,
                                                                 Double pathLenFactor) {
        StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
        StationPathRuntimeSnapshot runtimeSnapshot = loadStationPathRuntimeSnapshot(currentTaskNo);
        StationPathSearchContext context = buildStationPathSearchContext(
                startStationId,
                endStationId,
                resolvedPolicy,
                StationPathCalcMode.REROUTE,
                runtimeSnapshot
        );
        if (context.allList.isEmpty()) {
            return new ArrayList<>();
        }
        long totalStartNs = System.nanoTime();
        log.info("站点路径候选计算入口，startStationId={}，endStationId={}，taskNo={}，pathLenFactor={}",
                startStationId, endStationId, currentTaskNo, pathLenFactor);
        try {
            StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
            log.info("站点路径候选策略解析完成，startStationId={}，endStationId={}，taskNo={}，matchedRule={}，ruleCode={}，profileCode={}，costMs={}",
                    startStationId,
                    endStationId,
                    currentTaskNo,
                    resolvedPolicy != null && resolvedPolicy.matchedRule(),
                    resolvedPolicy == null || resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getRuleCode(),
                    resolvedPolicy == null ? null : resolvedPolicy.getDefaultProfileCode(),
                    elapsedMillis(totalStartNs));
            StationPathRuntimeSnapshot runtimeSnapshot = loadStationPathRuntimeSnapshot(currentTaskNo);
            StationPathSearchContext context = buildStationPathSearchContext(
                    startStationId,
                    endStationId,
                    resolvedPolicy,
                    StationPathCalcMode.REROUTE,
                    runtimeSnapshot
            );
            if (context.allList.isEmpty()) {
                log.warn("站点路径候选计算结束，原因=empty_search_context，startStationId={}，endStationId={}，taskNo={}，totalCostMs={}",
                        startStationId, endStationId, currentTaskNo, elapsedMillis(totalStartNs));
                return new ArrayList<>();
            }

        List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(
                context.allList,
                context.resolvedPolicy,
                currentTaskNo,
                pathLenFactor,
                startStationId,
                endStationId,
                runtimeSnapshot
        );
        return normalizeCandidatePaths(orderedPathList);
            long orderStartNs = System.nanoTime();
            List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(
                    context.allList,
                    context.resolvedPolicy,
                    currentTaskNo,
                    pathLenFactor,
                    startStationId,
                    endStationId,
                    runtimeSnapshot
            );
            List<List<NavigateNode>> normalizedPathList = normalizeCandidatePaths(orderedPathList);
            log.info("站点路径候选计算结束，startStationId={}，endStationId={}，taskNo={}，rawCandidateCount={}，orderedPathCount={}，normalizedPathCount={}，orderCostMs={}，totalCostMs={}",
                    startStationId,
                    endStationId,
                    currentTaskNo,
                    context.allList.size(),
                    orderedPathList == null ? null : orderedPathList.size(),
                    normalizedPathList.size(),
                    elapsedMillis(orderStartNs),
                    elapsedMillis(totalStartNs));
            return normalizedPathList;
        } catch (Exception e) {
            log.error("站点路径候选计算异常，startStationId={}，endStationId={}，taskNo={}，pathLenFactor={}，costMs={}",
                    startStationId, endStationId, currentTaskNo, pathLenFactor, elapsedMillis(totalStartNs), e);
            throw e;
        }
    }

    public Map<Integer, Set<Integer>> loadUndirectedStationGraphSnapshot() {
@@ -1688,22 +1736,21 @@
            }
            return cachedSnapshot.baseRuntimeSnapshot.toCacheHitSnapshot();
        }
        synchronized (runtimeSnapshotLock) {
            cachedSnapshot = cachedRuntimeSnapshot;
            if (cachedSnapshot != null && now - cachedSnapshot.cacheAtMs <= STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS) {
                if (stepCostMap != null) {
                    stepCostMap.put("baseSnapshotCacheHit", 0L);
                }
                return cachedSnapshot.baseRuntimeSnapshot.toCacheHitSnapshot();
            }
            long stepStartNs = System.nanoTime();
            BaseRuntimeSnapshot baseRuntimeSnapshot = buildBaseRuntimeSnapshot(stepCostMap);
        // 缓存过期：用过期缓存兜底（@Scheduled 定时任务会很快刷新），避免多线程阻塞
        if (cachedSnapshot != null) {
            if (stepCostMap != null) {
                stepCostMap.put("buildBaseSnapshot", elapsedMillis(stepStartNs));
                stepCostMap.put("baseSnapshotStale", 0L);
            }
            cachedRuntimeSnapshot = new CachedStationPathRuntimeSnapshot(now, baseRuntimeSnapshot);
            return baseRuntimeSnapshot;
            return cachedSnapshot.baseRuntimeSnapshot.toCacheHitSnapshot();
        }
        // 极端情况：从未有过缓存（启动首次调用），同步构建
        long stepStartNs = System.nanoTime();
        BaseRuntimeSnapshot baseRuntimeSnapshot = buildBaseRuntimeSnapshot(stepCostMap);
        if (stepCostMap != null) {
            stepCostMap.put("buildBaseSnapshot", elapsedMillis(stepStartNs));
        }
        cachedRuntimeSnapshot = new CachedStationPathRuntimeSnapshot(System.currentTimeMillis(), baseRuntimeSnapshot);
        return baseRuntimeSnapshot;
    }

    private BaseRuntimeSnapshot buildBaseRuntimeSnapshot(Map<String, Long> stepCostMap) {
@@ -1732,7 +1779,7 @@
        }

        stepStartNs = System.nanoTime();
        List<StationTaskTraceVo> activeTraceList = Collections.unmodifiableList(new ArrayList<>(loadPlanningActiveTraceList(statusMap)));
        List<StationTaskTraceVo> activeTraceList = Collections.unmodifiableList(new ArrayList<>(loadPlanningActiveTraceList(statusMap, stepCostMap)));
        if (stepCostMap != null) {
            stepCostMap.put("loadActiveTraceList", elapsedMillis(stepStartNs));
        }
@@ -1766,6 +1813,22 @@
    }

    private LoopMergeGuardContext loadLoopMergeGuardContext() {
        long now = System.currentTimeMillis();
        CachedLoopMergeGuardContext cached = cachedLoopMergeGuardContext;
        if (cached != null && now - cached.cacheAtMs <= STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS) {
            return new LoopMergeGuardContext(cached.context);
        }
        // 缓存过期：用过期缓存兜底（@Scheduled 定时任务会很快刷新）
        if (cached != null) {
            return new LoopMergeGuardContext(cached.context);
        }
        // 极端情况：从未有过缓存，同步构建
        LoopMergeGuardContext context = buildLoopMergeGuardContext();
        cachedLoopMergeGuardContext = new CachedLoopMergeGuardContext(System.currentTimeMillis(), context);
        return new LoopMergeGuardContext(context);
    }

    private LoopMergeGuardContext buildLoopMergeGuardContext() {
        LoopMergeGuardContext context = new LoopMergeGuardContext();
        try {
            if (stationCycleCapacityService == null) {
@@ -2138,10 +2201,19 @@
    }

    private List<StationTaskTraceVo> loadPlanningActiveTraceList(Map<Integer, StationProtocol> statusMap) {
        return loadPlanningActiveTraceList(statusMap, null);
    }

    private List<StationTaskTraceVo> loadPlanningActiveTraceList(Map<Integer, StationProtocol> statusMap,
                                                                   Map<String, Long> stepCostMap) {
        Map<Integer, StationTaskTraceVo> traceMap = new LinkedHashMap<>();
        if (stationTaskTraceRegistry != null) {
            try {
                List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listLatestTraces();
                long stepStartNs = System.nanoTime();
                List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listPlanningActiveTraceSnapshots();
                if (stepCostMap != null) {
                    stepCostMap.put("loadRegistryTraces", elapsedMillis(stepStartNs));
                }
                if (traceList != null) {
                    for (StationTaskTraceVo traceVo : traceList) {
                        if (!isPlanningActiveTrace(traceVo)) {
@@ -2155,7 +2227,11 @@
            } catch (Exception ignore) {
            }
        }
        Map<Integer, StationTaskTraceVo> fallbackTraceMap = loadFallbackActiveTraceMap(null, statusMap, traceMap.keySet());
        long stepStartNs = System.nanoTime();
        Map<Integer, StationTaskTraceVo> fallbackTraceMap = buildProtocolFallbackTraceMap(statusMap, traceMap.keySet());
        if (stepCostMap != null) {
            stepCostMap.put("loadFallbackTraces", elapsedMillis(stepStartNs));
        }
        if (!fallbackTraceMap.isEmpty()) {
            traceMap.putAll(fallbackTraceMap);
        }
@@ -2170,6 +2246,55 @@
        return StationTaskTraceRegistry.STATUS_WAITING.equals(status)
                || StationTaskTraceRegistry.STATUS_RUNNING.equals(status)
                || StationTaskTraceRegistry.STATUS_REROUTED.equals(status);
    }

    private Map<Integer, StationTaskTraceVo> buildProtocolFallbackTraceMap(Map<Integer, StationProtocol> statusMap,
                                                                            Set<Integer> existingTaskNoSet) {
        if (statusMap == null || statusMap.isEmpty()) {
            return Collections.emptyMap();
        }
        Map<Integer, StationTaskTraceVo> result = 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 (existingTaskNoSet != null && existingTaskNoSet.contains(protocol.getTaskNo())) {
                continue;
            }
            Integer stationId = protocol.getStationId();
            Integer targetStaNo = protocol.getTargetStaNo();
            if (stationId == null || targetStaNo == null || stationId.equals(targetStaNo)) {
                continue;
            }
            List<Integer> path = new ArrayList<>();
            path.add(stationId);
            path.add(targetStaNo);
            List<Integer> pendingStationIds = new ArrayList<>();
            pendingStationIds.add(targetStaNo);
            StationTaskTraceVo vo = new StationTaskTraceVo();
            vo.setTaskNo(protocol.getTaskNo());
            vo.setThreadImpl("PROTOCOL_FALLBACK");
            vo.setStatus(StationTaskTraceRegistry.STATUS_RUNNING);
            vo.setTraceVersion(1);
            vo.setStartStationId(stationId);
            vo.setCurrentStationId(stationId);
            vo.setFinalTargetStationId(targetStaNo);
            vo.setFullPathStationIds(path);
            vo.setIssuedStationIds(path);
            vo.setPassedStationIds(Collections.emptyList());
            vo.setPendingStationIds(pendingStationIds);
            vo.setLatestIssuedSegmentPath(path);
            vo.setSegmentList(Collections.emptyList());
            vo.setIssuedSegmentCount(0);
            vo.setTotalSegmentCount(1);
            vo.setUpdatedAt(System.currentTimeMillis());
            vo.setEvents(Collections.emptyList());
            result.put(protocol.getTaskNo(), vo);
        }
        return result;
    }

    private Map<Integer, StationTaskTraceVo> loadFallbackActiveTraceMap(Integer currentTaskNo,
@@ -2200,7 +2325,7 @@
        }

        List<Integer> taskNoList = new ArrayList<>(activeTaskProtocolMap.keySet());
        int limit = Math.max(50, taskNoList.size() * 8);
        int limit = Math.max(taskNoList.size(), taskNoList.size() * 2);
        List<BasStationOpt> optList;
        try {
            optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
@@ -2592,6 +2717,8 @@
        }
        Integer lev = startStation.getStationLev();
        stepCostMap.put("loadStartStation", elapsedMillis(stepStartNs));
        log.info("站点路径搜索上下文加载起点完成，startStationId={}，endStationId={}，mode={}，lev={}，costMs={}",
                startStationId, endStationId, calcMode, lev, stepCostMap.get("loadStartStation"));

        stepStartNs = System.nanoTime();
        NavigateSolution navigateSolution = new NavigateSolution();
@@ -2608,6 +2735,16 @@
            throw new CoolException("未找到该 终点 对应的节点");
        }
        stepCostMap.put("loadStationMapAndNode", elapsedMillis(stepStartNs));
        log.info("站点路径搜索上下文加载地图完成，startStationId={}，endStationId={}，mode={}，mapRows={}，startNode=({},{})，endNode=({},{})，costMs={}",
                startStationId,
                endStationId,
                calcMode,
                stationMap.size(),
                startNode.getX(),
                startNode.getY(),
                endNode.getX(),
                endNode.getY(),
                stepCostMap.get("loadStationMapAndNode"));

        stepStartNs = System.nanoTime();
        StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
@@ -2621,9 +2758,17 @@
                endStationId,
                calcMode == null ? "" : calcMode.name());
        int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
        int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
        int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 50);
        int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
        List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
        log.info("站点路径候选枚举开始，startStationId={}，endStationId={}，mode={}，calcMaxDepth={}，calcMaxPaths={}，calcMaxCost={}，guideStationSequence={}",
                startStationId,
                endStationId,
                calcMode,
                calcMaxDepth,
                calcMaxPaths,
                calcMaxCost,
                JSON.toJSONString(guideStationSequence));
        stepStartNs = System.nanoTime();
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
                stationMap,
@@ -2636,6 +2781,12 @@
        );
        stepCostMap.put("allSimplePaths", elapsedMillis(stepStartNs));
        rawCandidateCount = allList.size();
        log.info("站点路径候选枚举完成，startStationId={}，endStationId={}，mode={}，rawCandidateCount={}，costMs={}",
                startStationId,
                endStationId,
                calcMode,
                rawCandidateCount,
                stepCostMap.get("allSimplePaths"));
        if (allList.isEmpty()) {
            logStationPathSearchContextSlow(startStationId, endStationId, calcMode, lev, rawCandidateCount, filteredCandidateCount, stepCostMap, totalStartNs);
            return StationPathSearchContext.empty(resolvedPolicy);
@@ -2645,6 +2796,14 @@
        allList = filterNonAutoStationPaths(allList, statusMap);
        stepCostMap.put("filterNonAutoStation", elapsedMillis(stepStartNs));
        filteredCandidateCount = allList.size();
        log.info("站点路径候选自动状态过滤完成，startStationId={}，endStationId={}，mode={}，rawCandidateCount={}，filteredCandidateCount={}，statusCount={}，costMs={}",
                startStationId,
                endStationId,
                calcMode,
                rawCandidateCount,
                filteredCandidateCount,
                statusMap.size(),
                stepCostMap.get("filterNonAutoStation"));
        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);
            logStationPathSearchContextSlow(startStationId, endStationId, calcMode, lev, rawCandidateCount, filteredCandidateCount, stepCostMap, totalStartNs);
@@ -3021,6 +3180,16 @@
        }
    }

    private static class CachedLoopMergeGuardContext {
        private final long cacheAtMs;
        private final LoopMergeGuardContext context;

        private CachedLoopMergeGuardContext(long cacheAtMs, LoopMergeGuardContext context) {
            this.cacheAtMs = cacheAtMs;
            this.context = context;
        }
    }

    private static class PathCandidateMetrics {
        private List<NavigateNode> path;
        private int pathLen;
@@ -3074,6 +3243,16 @@
    private static class LoopMergeGuardContext {
        private final Set<Integer> loopStationIdSet = new HashSet<>();
        private final Map<Integer, Set<Integer>> loopNeighborMap = new HashMap<>();

        private LoopMergeGuardContext() {
        }

        private LoopMergeGuardContext(LoopMergeGuardContext source) {
            this.loopStationIdSet.addAll(source.loopStationIdSet);
            for (Map.Entry<Integer, Set<Integer>> entry : source.loopNeighborMap.entrySet()) {
                this.loopNeighborMap.put(entry.getKey(), new LinkedHashSet<>(entry.getValue()));
            }
        }
    }

    private static class LoopMergeEntry {