zy-wcs-master.git

			@@ -4,18 +4,36 @@
			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;

			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;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.common.model.NavigateNode;
			@@ -25,17 +43,52 @@
			import com.zy.core.enums.SlaveType;
			import com.zy.core.model.protocol.StationProtocol;
			import com.zy.core.thread.StationThread;
			import com.zy.system.entity.Config;
			import com.zy.system.service.ConfigService;
			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) {
			BasStation startStation = basStationService.selectById(startStationId);
			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");
			}
			@@ -45,34 +98,63 @@
			List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);

			NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
			if (startNode == null){
			if (startNode == null) {
			throw new CoolException("未找到该起点对应的节点");
			}

			NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
			if (endNode == null){
			if (endNode == null) {
			throw new CoolException("未找到该终点对应的节点");
			}

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

			long startTime = System.currentTimeMillis();
			News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
			List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
			int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
			int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
			int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
			List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
			List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
			stationMap,
			startNode,
			endNode,
			calcMaxDepth,
			calcMaxPaths,
			calcMaxCost,
			guideStationSequence
			);
			if (allList.isEmpty()) {
			throw new CoolException("未找到该路径");
			// throw new CoolException("未找到该路径");
			return new ArrayList<>();
			}
			Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
			allList = filterNonAutoStationPaths(allList, statusMap);
			if (allList.isEmpty()) {
			News.info("[WCS Debug] 站点路径候选全部被过滤，存在非自动站点,startStationId={},endStationId={}", startStationId, endStationId);
			return new ArrayList<>();
			}
			News.info("[WCS Debug] 站点路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);

			startTime = System.currentTimeMillis();
			News.info("[WCS Debug] 站点路径权重开始分析,startStationId={},endStationId={}", startStationId, endStationId);
			List<NavigateNode> list = findStationBestPath(allList);
			List<NavigateNode> list = 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
			HashSet<Integer> set = new HashSet<>();
			List<NavigateNode> fitlerList = new ArrayList<>();
			for(NavigateNode navigateNode : list){
			for (NavigateNode navigateNode : list) {
			JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
			if(set.add(valuObject.getInteger("stationId"))){
			if (valuObject.containsKey("rgvCalcFlag")) {
			continue;
			}
			if (set.add(valuObject.getInteger("stationId"))) {
			fitlerList.add(navigateNode);
			}
			}
			@@ -80,6 +162,20 @@
			for (int i = 0; i < fitlerList.size(); i++) {
			NavigateNode currentNode = fitlerList.get(i);
			currentNode.setIsInflectionPoint(false);
			currentNode.setIsLiftTransferPoint(false);

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

			NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
			NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
			@@ -112,7 +208,8 @@
			News.info("[WCS Debug] RGV路径开始计算,startTrackSiteNo:{},endTrackSiteNo={}", startTrackSiteNo, endTrackSiteNo);
			NavigateNode res_node = navigateSolution.astarSearchJava(rgvTrackMap, startNode, endNode);
			if (res_node == null) {
			throw new CoolException("未找到该路径");
			// throw new CoolException("未找到该路径");
			return new ArrayList<>();
			}
			News.info("[WCS Debug] RGV路径计算完成，耗时：{}ms", System.currentTimeMillis() - startTime);

			@@ -190,139 +287,1668 @@
			return liftStationList;
			}

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

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

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

			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<>();
			}
			} catch (Exception ignore) {}
			filteredCandidates = allList;
			}

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

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

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

			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;
			}
			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;
			}
			metricsList.add(metrics);
			}
			if (metricsList.isEmpty()) {
			if (globalPolicy.forceSkipPassOtherOutStation && skippedByOtherOutStation > 0) {
			News.warn("[WCS Debug] 站点路径候选全部被过滤，因经过其他出库站点,startStationId={},endStationId={}",
			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<>();
			}

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

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

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

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

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

			List<List<NavigateNode>> result = new ArrayList<>();
			for (List<NavigateNode> path : allList) {
			if (path == null \|\| path.isEmpty()) {
			continue;
			}
			int len = path.size();
			int tasks = 0;
			HashSet<Integer> stationIdSet = new HashSet<>();
			for (NavigateNode node : path) {
			JSONObject value = null;
			try {
			value = JSON.parseObject(node.getNodeValue());
			} catch (Exception ignore) {}
			if (value == null) {
			continue;
			}
			Integer stationId = value.getInteger("stationId");
			if (stationId == null) {
			continue;
			}
			if (!stationIdSet.add(stationId)) {
			continue;
			}
			StationProtocol protocol = statusMap.get(stationId);
			if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
			tasks++;
			List<Integer> stationIdList = extractStationIdList(path);
			if (!matchHardConstraint(stationIdList, ruleConfig.getHard())) {
			continue;
			}
			if (includeWaypoint && !matchWaypointConstraint(stationIdList, ruleConfig.getWaypoint())) {
			continue;
			}
			result.add(path);
			}
			return result;
			}

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

			List<List<NavigateNode>> result = new ArrayList<>();
			for (List<NavigateNode> path : allList) {
			if (path == null \|\| path.isEmpty()) {
			continue;
			}
			List<Integer> stationIdList = extractStationIdList(path);
			if (!matchSoftConstraint(stationIdList, soft)) {
			continue;
			}
			result.add(path);
			}
			return result;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			metrics.dynamicCost =
			safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.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;
			}

			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 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)) {
			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 double calcCongestionScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
			if (trafficSnapshot == null \|\| trafficSnapshot.congestionScoreMap.isEmpty()) {
			return 0.0d;
			}
			double score = 0.0d;
			for (Integer stationId : stationIdList) {
			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 totalRisk;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			private 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) {
			// 环线并入保护已停用：允许候选路径直接参与后续评分。
			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) {
			return result;
			}
			result = Integer.compare(thenLeft1, thenRight1);
			if (result != 0) {
			return result;
			}
			return Integer.compare(thenLeft2, thenRight2);
			}

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

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

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

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

			private static class PathCandidateMetrics {
			private List<NavigateNode> path;
			private int pathLen;
			private int turnCount;
			private int liftTransferCount;
			private int passOtherOutStationCount;
			private double congestionScore;
			private double queueDepthScore;
			private double estimatedWaitSeconds;
			private double deadlockRiskScore;
			private int runBlockCount;
			private int softDeviationCount;
			private double loopPenalty;
			private double staticCost;
			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;
			private double passOtherOutStationPenaltyWeight = 0.0d;
			private boolean forceSkipPassOtherOutStation = false;
			}
			private PathGlobalPolicy loadPathGlobalPolicy(StationPathProfileConfig profileConfig) {
			PathGlobalPolicy weights = new PathGlobalPolicy();
			StationPathProfileConfig source = profileConfig == null ? StationPathProfileConfig.defaultConfig() : profileConfig;
			double lenWeightPercent = safeDouble(source.getStationPathLenWeightPercent(), 50.0d);
			double congWeightPercent = safeDouble(source.getStationPathCongWeightPercent(), 50.0d);
			double passOtherOutStationWeightPercent = safeDouble(source.getStationPathPassOtherOutStationWeightPercent(), 100.0d);
			weights.forceSkipPassOtherOutStation = Boolean.TRUE.equals(source.getStationPathPassOtherOutStationForceSkip());

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

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

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

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

			List<NavigateNode> best = null;
			double bestCost = Double.MAX_VALUE;
			int bestTasks = Integer.MAX_VALUE;
			int bestLen = Integer.MAX_VALUE;
			for (int i = 0; i < candidates.size(); i++) {
			int l = lens.get(i);
			int t = tasksList.get(i);
			double c = congs.get(i);
			//归一化
			double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
			double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
			//获取权重
			double cost = lenNorm * lenW + congNorm * congW;
			if (cost < bestCost
			\|\| (cost == bestCost && t < bestTasks)
			\|\| (cost == bestCost && t == bestTasks && l < bestLen)) {
			best = candidates.get(i);
			bestCost = cost;
			bestTasks = t;
			bestLen = l;
			private int countPassOtherOutStations(List<NavigateNode> path, Set<Integer> outStationIdSet) {
			if (path == null \|\| path.size() < 3 \|\| outStationIdSet == null \|\| outStationIdSet.isEmpty()) {
			return 0;
			}
			Integer startStationId = extractStationId(path.get(0));
			Integer endStationId = extractStationId(path.get(path.size() - 1));
			Set<Integer> hitStationIdSet = new HashSet<>();
			for (int i = 1; i < path.size() - 1; i++) {
			Integer stationId = extractStationId(path.get(i));
			if (stationId == null) {
			continue;
			}
			if (startStationId != null && startStationId.equals(stationId)) {
			continue;
			}
			if (endStationId != null && endStationId.equals(stationId)) {
			continue;
			}
			if (outStationIdSet.contains(stationId)) {
			hitStationIdSet.add(stationId);
			}
			}
			return hitStationIdSet.size();
			}

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

			//判断当前节点到下一个节点是否为拐点