#

Junjie

16 小时以前 78443e96a6b02853b3f7869ededc459a558dacf0

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

@@ -8,10 +8,17 @@
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;
@@ -42,6 +49,10 @@

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

    public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
        BasStation startStation = basStationService.getById(startStationId);
@@ -63,9 +74,17 @@
            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 = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxDepth(), 120) : 120;
        int calcMaxPaths = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxPaths(), 500) : 500;
        int calcMaxCost = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxCost(), 300) : 300;
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, calcMaxDepth, calcMaxPaths, calcMaxCost);
        if (allList.isEmpty()) {
//            throw new CoolException("未找到该路径");
            return new ArrayList<>();
@@ -74,7 +93,9 @@

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

        //去重
@@ -218,6 +239,431 @@
        return liftStationList;
    }

    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 legacy: {}", e.getMessage());
        }
        return new StationPathResolvedPolicy();
    }

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

        StationPathRuleConfig ruleConfig = resolvedPolicy.getRuleConfig() == null
                ? new StationPathRuleConfig()
                : resolvedPolicy.getRuleConfig();
        StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
                ? StationPathProfileConfig.defaultConfig()
                : resolvedPolicy.getProfileConfig();

        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");
        }
        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<>();
            }
            filteredCandidates = allList;
        }

        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
        List<PathCandidateMetrics> metricsList = new ArrayList<>();
        for (List<NavigateNode> path : filteredCandidates) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            metricsList.add(buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig));
        }
        if (metricsList.isEmpty()) {
            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;
            }
            List<Integer> stationIdList = extractStationIdList(path);
            if (!matchHardConstraint(stationIdList, ruleConfig.getHard())) {
                continue;
            }
            if (includeWaypoint && !matchWaypointConstraint(stationIdList, ruleConfig.getWaypoint())) {
                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;
                }
            }
        }
        return false;
    }

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

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

    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) {
        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.softDeviationCount = calcSoftDeviationCount(stationIdList,
                ruleConfig == null || ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());

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

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

        metrics.dynamicCost =
                safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * 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, List<Integer> preferredPath) {
        if (preferredPath == null || preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
            return 0;
        }
        Set<Integer> preferredSet = new HashSet<>(preferredPath);
        int count = 0;
        for (int i = 1; i < stationIdList.size() - 1; i++) {
            Integer stationId = stationIdList.get(i);
            if (stationId != null && !preferredSet.contains(stationId)) {
                count++;
            }
        }
        return count;
    }

    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 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 busyStationCount;
        private int runBlockCount;
        private int softDeviationCount;
        private double loopPenalty;
        private double staticCost;
        private double dynamicCost;
    }

    public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();