zy-wcs-master.git

			@@ -19,6 +19,9 @@
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.NavigateUtils;
			import com.zy.common.utils.RedisUtil;
			import com.zy.core.move.StationMoveCoordinator;
			import com.zy.core.move.StationMoveDispatchMode;
			import com.zy.core.move.StationMoveSession;
			import com.zy.core.News;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			@@ -27,6 +30,8 @@
			import com.zy.core.model.Task;
			import com.zy.core.model.command.StationCommand;
			import com.zy.core.model.protocol.StationProtocol;
			import com.zy.core.model.protocol.StationTaskBufferItem;
			import com.zy.core.service.StationTaskLoopService;
			import com.zy.core.thread.StationThread;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.stereotype.Component;
			@@ -37,8 +42,9 @@
			public class StationOperateProcessUtils {
			private static final int LOOP_LOAD_RESERVE_EXPIRE_SECONDS = 120;
			private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 2;
			private static final int STATION_COMMAND_DISPATCH_DEDUP_SECONDS = 10;
			private static final int STATION_IDLE_RECOVER_SECONDS = 10;
			private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 10;
			private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 30;
			private static final int STATION_IDLE_TRACK_EXPIRE_SECONDS = 60 * 60;
			private static final long STATION_MOVE_RESET_WAIT_MS = 1000L;
			private static final String IDLE_RECOVER_CLEARED_MEMO = "idleRecoverRerouteCleared";
			@@ -67,6 +73,12 @@
			private StationPathPolicyService stationPathPolicyService;
			@Autowired
			private BasStationOptService basStationOptService;
			@Autowired
			private StationTaskLoopService stationTaskLoopService;
			@Autowired
			private WrkAnalysisService wrkAnalysisService;
			@Autowired
			private StationMoveCoordinator stationMoveCoordinator;

			//执行输送站点入库任务
			public synchronized void stationInExecute() {
			@@ -112,7 +124,7 @@
			continue;
			}

			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
			if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.NEW_INBOUND.sts)) {
			continue;
			}

			@@ -142,13 +154,26 @@
			continue;
			}

			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			Date now = new Date();
			wrkMast.setWrkSts(WrkStsType.INBOUND_STATION_RUN.sts);
			wrkMast.setSourceStaNo(stationProtocol.getStationId());
			wrkMast.setStaNo(targetStationId);
			wrkMast.setSystemMsg("");
			wrkMast.setIoTime(new Date());
			wrkMast.setIoTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
			wrkAnalysisService.markInboundStationStart(wrkMast, now);
			boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "stationInExecute");
			if (offered && stationMoveCoordinator != null) {
			// 初始入库命令也纳入 session 跟踪，后续停留恢复/绕圈/堵塞重算才能基于同一条路线状态判断。
			stationMoveCoordinator.recordDispatch(
			wrkMast.getWrkNo(),
			stationProtocol.getStationId(),
			"stationInExecute",
			command,
			false
			);
			}
			News.info("输送站点入库命令下发成功，站点号={}，工作号={}，命令数据={}", stationId, wrkMast.getWrkNo(), JSON.toJSONString(command));
			redisUtil.set(RedisKeyType.STATION_IN_EXECUTE_LIMIT.key + stationId, "lock", 5);
			loadGuardState.reserveLoopTask(loopHitResult.getLoopNo());
			@@ -204,10 +229,14 @@
			&& stationProtocol.isLoading()
			&& stationProtocol.getTaskNo() == 0
			) {
			// 先算当前任务在批次出库中的路径倾向系数，再带着这个系数去决策目标站，
			// 这样同一批次不同序号任务在排序点、绕圈点和堵塞重算时会得到一致的目标裁决。
			Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
			OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
			stationProtocol.getStationId(),
			wrkMast,
			outOrderList
			outOrderList,
			pathLenFactor
			);
			Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
			if (moveStaNo == null) {
			@@ -215,23 +244,41 @@
			}

			DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), moveStaNo);
			LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState);
			LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState, wrkMast, pathLenFactor);

			if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
			return;
			}

			StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
			StationCommand command = buildOutboundMoveCommand(
			stationThread,
			wrkMast,
			stationProtocol.getStationId(),
			moveStaNo,
			pathLenFactor
			);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
			continue;
			}

			Date now = new Date();
			wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
			wrkMast.setSystemMsg("");
			wrkMast.setIoTime(new Date());
			wrkMast.setIoTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
			wrkAnalysisService.markOutboundStationStart(wrkMast, now);
			boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "crnStationOutExecute");
			if (offered && stationMoveCoordinator != null) {
			stationMoveCoordinator.recordDispatch(
			wrkMast.getWrkNo(),
			stationProtocol.getStationId(),
			"crnStationOutExecute",
			command,
			false
			);
			}
			News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
			redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
			redisUtil.del(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
			@@ -282,7 +329,14 @@
			&& stationProtocol.isLoading()
			&& stationProtocol.getTaskNo() == 0
			) {
			StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
			Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
			StationCommand command = buildOutboundMoveCommand(
			stationThread,
			wrkMast,
			stationProtocol.getStationId(),
			wrkMast.getStaNo(),
			pathLenFactor
			);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
			continue;
			@@ -292,7 +346,17 @@
			wrkMast.setSystemMsg("");
			wrkMast.setIoTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
			boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "dualCrnStationOutExecute");
			if (offered && stationMoveCoordinator != null) {
			// 双工位堆垛机转入输送线后同样要登记 session，否则后续重算只能看到 PLC 命令，看不到路线语义。
			stationMoveCoordinator.recordDispatch(
			wrkMast.getWrkNo(),
			stationProtocol.getStationId(),
			"dualCrnStationOutExecute",
			command,
			false
			);
			}
			notifyUtils.notify(String.valueOf(SlaveType.Devp), stationObjModel.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN, null);
			News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
			redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
			@@ -344,9 +408,15 @@
			if (wrkMast == null \|\| wrkMast.getWrkNo() == null) {
			return;
			}
			if (stationMoveCoordinator != null) {
			stationMoveCoordinator.finishSession(wrkMast.getWrkNo());
			}
			Date now = new Date();
			wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
			wrkMast.setIoTime(new Date());
			wrkMast.setIoTime(now);
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			wrkAnalysisService.markOutboundStationComplete(wrkMast, now);
			if (deviceNo != null) {
			notifyUtils.notify(String.valueOf(SlaveType.Devp), deviceNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN_COMPLETE, null);
			}
			@@ -388,6 +458,9 @@
			}

			if (complete) {
			if (stationMoveCoordinator != null) {
			stationMoveCoordinator.finishSession(wrkNo);
			}
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setIoTime(new Date());
			wrkMastService.updateById(wrkMast);
			@@ -433,120 +506,28 @@
			}
			redisUtil.set(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo(), "lock", 15);

			if (wrkMast.getIoType() == WrkIoType.IN.id && runBlockReassignLocStationList.contains(stationProtocol.getStationId())) {
			//站点处于重新分配库位区域
			//运行堵塞，重新申请任务
			String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
			if (Cools.isEmpty(response)) {
			News.taskError(wrkMast.getWrkNo(), "请求WMS重新分配库位接口失败，接口未响应！！！response：{}", response);
			continue;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			String sourceLocNo = wrkMast.getLocNo();
			String locNo = dto.getLocNo();

			LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
			if (sourceLocMast == null) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位信息不存在", sourceLocNo);
			continue;
			}

			if (!sourceLocMast.getLocSts().equals("S")) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位状态不处于入库预约", sourceLocNo);
			continue;
			}

			LocMast locMast = locMastService.queryByLoc(locNo);
			if (locMast == null) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位信息不存在", locNo);
			continue;
			}

			if (!locMast.getLocSts().equals("O")) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位状态不处于空库位", locNo);
			continue;
			}

			FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
			if (findCrnNoResult == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}工作,未匹配到堆垛机", wrkMast.getWrkNo());
			continue;
			}
			Integer crnNo = findCrnNoResult.getCrnNo();

			Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationProtocol.getStationId());
			if (targetStationId == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}站点,搜索入库站点失败", stationProtocol.getStationId());
			continue;
			}

			StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
			continue;
			}

			//更新源库位
			sourceLocMast.setLocSts("O");
			sourceLocMast.setModiTime(new Date());
			locMastService.updateById(sourceLocMast);

			//更新目标库位
			locMast.setLocSts("S");
			locMast.setModiTime(new Date());
			locMastService.updateById(locMast);

			//更新工作档数据
			wrkMast.setLocNo(locNo);
			wrkMast.setStaNo(targetStationId);

			if (findCrnNoResult.getCrnType().equals(SlaveType.Crn)) {
			wrkMast.setCrnNo(crnNo);
			} else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
			wrkMast.setDualCrnNo(crnNo);
			} else {
			throw new CoolException("未知设备类型");
			}

			if (wrkMastService.updateById(wrkMast)) {
			MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
			}
			} else {
			News.error("请求WMS接口失败！！！response：{}", response);
			}
			} else {
			//运行堵塞，重新计算路线
			OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
			stationProtocol.getStationId(),
			wrkMast,
			outOrderStationIds
			);
			Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
			if (moveStaNo == null \|\| Objects.equals(moveStaNo, stationProtocol.getStationId())) {
			continue;
			}

			StationCommand command = stationThread.getRunBlockRerouteCommand(
			wrkMast.getWrkNo(),
			stationProtocol.getStationId(),
			moveStaNo,
			0
			);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(),
			"输送站点堵塞重规划未找到可下发路线，当前站点={}，目标站点={}",
			stationProtocol.getStationId(),
			moveStaNo);
			continue;
			}

			MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
			syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
			News.info("输送站点堵塞后重新计算路径命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
			if (shouldUseRunBlockDirectReassign(wrkMast, stationProtocol.getStationId(), runBlockReassignLocStationList)) {
			executeRunBlockDirectReassign(basDevp, stationThread, stationProtocol, wrkMast);
			continue;
			}

			Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
			// 运行堵塞不单独决定业务目标站，仍然复用出库排序/绕圈的目标裁决，
			// 这里只是要求用 run-block 专用算路，并在重发前清掉旧 session/segment 状态。
			RerouteContext context = RerouteContext.create(
			RerouteSceneType.RUN_BLOCK_REROUTE,
			basDevp,
			stationThread,
			stationProtocol,
			wrkMast,
			outOrderStationIds,
			pathLenFactor,
			"checkStationRunBlock_reroute"
			).withRunBlockCommand()
			.withSuppressDispatchGuard()
			.withCancelSessionBeforeDispatch()
			.withResetSegmentCommandsBeforeDispatch();
			executeSharedReroute(context);
			}
			}
			}
			@@ -628,6 +609,11 @@
			continue;
			}

			// 排序点本身已经堵塞时，不在 out-order 里做二次决策，统一交给 run-block 重规划处理。
			if (stationProtocol.isRunBlock()) {
			continue;
			}

			if (!stationProtocol.getStationId().equals(stationProtocol.getTargetStaNo())) {
			continue;
			}
			@@ -642,32 +628,26 @@
			if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
			continue;
			}

			if (isWatchingCircleArrival(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
			// 只有活动中的现有路线才会压制 out-order；BLOCKED 路线要允许排序点重新启动。
			if (shouldSkipOutOrderDispatchForExistingRoute(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
			continue;
			}

			OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
			stationProtocol.getStationId(),
			Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
			RerouteContext context = RerouteContext.create(
			RerouteSceneType.OUT_ORDER,
			basDevp,
			stationThread,
			stationProtocol,
			wrkMast,
			outOrderStationIds
			);
			Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
			if (moveStaNo == null \|\| Objects.equals(moveStaNo, stationProtocol.getStationId())) {
			continue;
			}

			StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
			continue;
			}
			if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
			continue;
			}
			syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
			MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
			News.info(dispatchDecision.isCircle() ? "{}任务进行绕圈" : "{}任务直接去目标点", wrkMast.getWrkNo());
			outOrderStationIds,
			pathLenFactor,
			"checkStationOutOrder"
			).withDispatchDeviceNo(stationObjModel.getDeviceNo())
			.withSuppressDispatchGuard()
			.withOutOrderDispatchLock()
			.withResetSegmentCommandsBeforeDispatch();
			executeSharedReroute(context);
			}
			}
			}
			@@ -696,11 +676,8 @@
			continue;
			}

			StationCommand circleCommand = getWatchCircleCommand(stationProtocol.getTaskNo());
			if (circleCommand == null) {
			continue;
			}
			if (!stationProtocol.getStationId().equals(circleCommand.getTargetStaNo())) {
			// 绕圈触发优先读 session 的下一决策站，legacy WATCH_CIRCLE key 只做兼容回退。
			if (!isWatchingCircleArrival(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
			continue;
			}

			@@ -714,29 +691,384 @@
			if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
			continue;
			}

			OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
			stationProtocol.getStationId(),
			Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
			RerouteContext context = RerouteContext.create(
			RerouteSceneType.WATCH_CIRCLE,
			basDevp,
			stationThread,
			stationProtocol,
			wrkMast,
			outOrderList
			);
			Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
			if (moveStaNo == null \|\| Objects.equals(moveStaNo, stationProtocol.getStationId())) {
			continue;
			}

			StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
			continue;
			}
			if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
			continue;
			}
			syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
			MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
			outOrderList,
			pathLenFactor,
			"watchCircleStation"
			).withSuppressDispatchGuard()
			.withOutOrderDispatchLock()
			.withResetSegmentCommandsBeforeDispatch();
			executeSharedReroute(context);
			}
			}
			}

			private StationCommand buildOutboundMoveCommand(StationThread stationThread,
			WrkMast wrkMast,
			Integer stationId,
			Integer targetStationId,
			Double pathLenFactor) {
			if (stationThread == null \|\| wrkMast == null) {
			return null;
			}
			return stationThread.getCommand(
			StationCommandType.MOVE,
			wrkMast.getWrkNo(),
			stationId,
			targetStationId,
			0,
			normalizePathLenFactor(pathLenFactor)
			);
			}

			RerouteCommandPlan buildRerouteCommandPlan(RerouteContext context,
			RerouteDecision decision) {
			if (context == null) {
			return RerouteCommandPlan.skip("missing-context");
			}
			if (decision == null) {
			return RerouteCommandPlan.skip("missing-decision");
			}
			if (decision.skip()) {
			return RerouteCommandPlan.skip(decision.skipReason());
			}
			if (context.stationThread() == null \|\| context.stationProtocol() == null \|\| context.wrkMast() == null) {
			return RerouteCommandPlan.skip("missing-runtime-dependency");
			}
			Integer currentStationId = context.stationProtocol().getStationId();
			Integer targetStationId = decision.targetStationId();
			if (currentStationId == null \|\| targetStationId == null) {
			return RerouteCommandPlan.skip("missing-target-station");
			}
			if (Objects.equals(currentStationId, targetStationId)) {
			return RerouteCommandPlan.skip("same-station");
			}

			StationCommand command = context.useRunBlockCommand()
			? context.stationThread().getRunBlockRerouteCommand(
			context.wrkMast().getWrkNo(),
			currentStationId,
			targetStationId,
			0,
			context.pathLenFactor()
			)
			: buildOutboundMoveCommand(
			context.stationThread(),
			context.wrkMast(),
			currentStationId,
			targetStationId,
			context.pathLenFactor()
			);
			if (command == null) {
			if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
			News.taskInfo(context.wrkMast().getWrkNo(),
			"输送站点堵塞重规划未找到可下发路线，当前站点={}，目标站点={}",
			currentStationId,
			targetStationId);
			} else if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
			News.taskInfo(context.wrkMast().getWrkNo(),
			"站点任务停留超时后重算路径失败，当前站点={}，目标站点={}",
			currentStationId,
			targetStationId);
			} else {
			News.taskInfo(context.wrkMast().getWrkNo(), "获取输送线命令失败");
			}
			return RerouteCommandPlan.skip("missing-command");
			}
			return RerouteCommandPlan.dispatch(command, decision, context.dispatchScene());
			}

			RerouteExecutionResult executeReroutePlan(RerouteContext context,
			RerouteCommandPlan plan) {
			if (context == null) {
			return RerouteExecutionResult.skip("missing-context");
			}
			if (plan == null) {
			return RerouteExecutionResult.skip("missing-plan");
			}
			if (plan.skip()) {
			return RerouteExecutionResult.skip(plan.skipReason());
			}
			StationProtocol stationProtocol = context.stationProtocol();
			if (stationProtocol == null) {
			return RerouteExecutionResult.skip("missing-station-protocol");
			}
			Integer taskNo = stationProtocol.getTaskNo();
			Integer stationId = stationProtocol.getStationId();
			if (taskNo == null \|\| taskNo <= 0 \|\| stationId == null) {
			return RerouteExecutionResult.skip("invalid-station-task");
			}
			boolean runBlockReroute = context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE;
			if (runBlockReroute) {
			// 站点进入堵塞后，设备侧可能已经把之前预下发的分段命令清掉了。
			// 先作废本地 session/segment 状态，再按新路线重发，避免被旧状态反向卡住。
			if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
			stationMoveCoordinator.cancelSession(taskNo);
			}
			if (context.resetSegmentCommandsBeforeDispatch()) {
			resetSegmentMoveCommandsBeforeReroute(taskNo);
			}
			}
			if (context.checkRecentDispatch()
			&& shouldSkipIdleRecoverForRecentDispatch(taskNo, stationId)) {
			return RerouteExecutionResult.skip("recent-dispatch");
			}
			int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), taskNo);
			if (currentTaskBufferCommandCount > 0 && !runBlockReroute) {
			if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
			News.info("输送站点任务停留超时，但缓存区仍存在当前任务命令，已跳过重算。站点号={}，工作号={}，当前任务命令数={}",
			stationId,
			taskNo,
			currentTaskBufferCommandCount);
			}
			return RerouteExecutionResult.skip("buffer-has-current-task");
			}
			if (currentTaskBufferCommandCount > 0 && runBlockReroute) {
			// 堵塞重规划要替换的正是这些旧分段命令，不能再把残留 buffer 当成新的拦截条件。
			News.info("输送站点运行堵塞重规划检测到旧分段命令残留，已先清理本地状态后继续重发。站点号={}，工作号={}，当前任务命令数={}",
			stationId,
			taskNo,
			currentTaskBufferCommandCount);
			}
			if (!runBlockReroute
			&& context.checkSuppressDispatch()
			&& stationMoveCoordinator != null
			&& stationMoveCoordinator.shouldSuppressDispatch(taskNo, stationId, plan.command())) {
			return RerouteExecutionResult.skip("dispatch-suppressed");
			}
			// 进入堵塞重规划后，旧路线已经被显式取消，本轮命令不再参与 active-session suppress 判定。
			if (context.requireOutOrderDispatchLock()
			&& !tryAcquireOutOrderDispatchLock(taskNo, stationId)) {
			return RerouteExecutionResult.skip("out-order-lock");
			}

			if (!runBlockReroute
			&& context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
			stationMoveCoordinator.cancelSession(taskNo);
			}
			if (!isBlank(context.executionLockKey())) {
			Object lock = redisUtil.get(context.executionLockKey());
			if (lock != null) {
			return RerouteExecutionResult.skip("scene-lock");
			}
			redisUtil.set(context.executionLockKey(), "lock", context.executionLockSeconds());
			}
			if (!runBlockReroute && context.resetSegmentCommandsBeforeDispatch()) {
			resetSegmentMoveCommandsBeforeReroute(taskNo);
			}

			int clearedCommandCount = 0;
			if (context.clearIdleIssuedCommands()) {
			clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(context.idleTrack(), taskNo, stationId);
			}

			boolean offered = offerDevpCommandWithDedup(context.dispatchDeviceNo(), plan.command(), plan.dispatchScene());
			if (!offered) {
			return RerouteExecutionResult.skip("dispatch-dedup");
			}

			applyRerouteDispatchEffects(context, plan, clearedCommandCount);
			return RerouteExecutionResult.dispatched(plan.command(), clearedCommandCount);
			}

			RerouteDecision resolveSharedRerouteDecision(RerouteContext context) {
			if (context == null \|\| context.wrkMast() == null \|\| context.stationProtocol() == null) {
			return RerouteDecision.skip("missing-runtime-dependency");
			}
			Integer currentStationId = context.stationProtocol().getStationId();
			if (currentStationId == null) {
			return RerouteDecision.skip("missing-current-station");
			}

			if (context.sceneType() == RerouteSceneType.IDLE_RECOVER
			&& !Objects.equals(context.wrkMast().getWrkSts(), WrkStsType.STATION_RUN.sts)) {
			Integer targetStationId = context.wrkMast().getStaNo();
			return targetStationId == null \|\| Objects.equals(targetStationId, currentStationId)
			? RerouteDecision.skip("same-station")
			: RerouteDecision.proceed(targetStationId);
			}

			OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
			currentStationId,
			context.wrkMast(),
			context.outOrderStationIds(),
			context.pathLenFactor()
			);
			Integer targetStationId = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
			if (targetStationId == null \|\| Objects.equals(targetStationId, currentStationId)) {
			return RerouteDecision.skip("same-station");
			}
			return RerouteDecision.proceed(targetStationId, dispatchDecision);
			}

			private RerouteExecutionResult executeSharedReroute(RerouteContext context) {
			RerouteDecision decision = resolveSharedRerouteDecision(context);
			if (decision.skip()) {
			return RerouteExecutionResult.skip(decision.skipReason());
			}
			RerouteCommandPlan plan = buildRerouteCommandPlan(context, decision);
			return executeReroutePlan(context, plan);
			}

			private void applyRerouteDispatchEffects(RerouteContext context,
			RerouteCommandPlan plan,
			int clearedCommandCount) {
			if (context == null \|\| plan == null \|\| plan.command() == null \|\| context.wrkMast() == null \|\| context.stationProtocol() == null) {
			return;
			}
			WrkMast wrkMast = context.wrkMast();
			StationProtocol stationProtocol = context.stationProtocol();
			OutOrderDispatchDecision dispatchDecision = plan.decision() == null ? null : plan.decision().dispatchDecision();

			syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), context.outOrderStationIds(), dispatchDecision, plan.command());
			if (stationMoveCoordinator != null) {
			stationMoveCoordinator.recordDispatch(
			wrkMast.getWrkNo(),
			stationProtocol.getStationId(),
			plan.dispatchScene(),
			plan.command(),
			dispatchDecision != null && dispatchDecision.isCircle()
			);
			}
			if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
			saveStationTaskIdleTrack(new StationTaskIdleTrack(wrkMast.getWrkNo(), stationProtocol.getStationId(), System.currentTimeMillis()));
			News.info("输送站点任务停留{}秒未运行，已重新计算路径并重启运行，站点号={}，目标站={}，工作号={}，清理旧分段命令数={}，命令数据={}",
			STATION_IDLE_RECOVER_SECONDS,
			stationProtocol.getStationId(),
			plan.command().getTargetStaNo(),
			wrkMast.getWrkNo(),
			clearedCommandCount,
			JSON.toJSONString(plan.command()));
			return;
			}
			if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
			News.info("输送站点堵塞后重新计算路径命令下发成功，站点号={}，工作号={}，命令数据={}",
			stationProtocol.getStationId(),
			wrkMast.getWrkNo(),
			JSON.toJSONString(plan.command()));
			return;
			}
			if (context.sceneType() == RerouteSceneType.OUT_ORDER) {
			News.info(dispatchDecision != null && dispatchDecision.isCircle() ? "{}任务进行绕圈" : "{}任务直接去目标点", wrkMast.getWrkNo());
			}
			}

			private List<NavigateNode> calcOutboundNavigatePath(WrkMast wrkMast,
			Integer sourceStationId,
			Integer targetStationId,
			Double pathLenFactor) {
			Double normalizedFactor = normalizePathLenFactor(pathLenFactor);
			Integer currentTaskNo = wrkMast == null ? null : wrkMast.getWrkNo();
			if (currentTaskNo == null) {
			return navigateUtils.calcByStationId(sourceStationId, targetStationId, normalizedFactor);
			}
			return navigateUtils.calcByStationId(sourceStationId, targetStationId, currentTaskNo, normalizedFactor);
			}

			/**
			* 计算当前出库任务的路径倾向系数。
			*
			* <p>这个系数不是业务目标站本身，而是“在多条可行路线之间更偏向哪一条”的辅助输入，
			* 目的是让同一批次、不同序号的任务在共享环线里尽量形成稳定、可重复的路径分布。
			*
			* <p>返回值范围固定在 {@code [0, 1]}：
			* 1. 非批次出库任务，直接返回 {@code 0.0}，表示不引入额外路径偏置。
			* 2. 当前批次只有 1 个有效活动任务，返回 {@code 0.0}，因为没有“前后顺序”可比较。
			* 3. 否则按“当前任务前面还有多少个有效前序任务”占“有效活动任务总数”的比例来算。
			*
			* <p>这里的“有效任务”只统计：
			* 1. ioType=OUT 的出库任务；
			* 2. 仍处于活动状态，未完成/未结算；
			* 3. 有 batchSeq；
			* 4. mk != taskCancel。
			*
			* <p>结果含义可以直观理解为：
			* 任务批次序号越靠后，前面已经存在的有效任务越多，得到的系数越大；
			* 后续算路时就更容易和前序任务形成稳定的路径分流，而不是所有任务都走同一条默认短路。
			*
			* <p>注意：
			* 这个方法不直接决定目标站，不负责排序放行，只提供“路径偏好”输入。
			* 真正的目标站仍由 {@link #resolveOutboundDispatchDecision(Integer, WrkMast, List, Double)} 决定。
			*/
			private Double resolveOutboundPathLenFactor(WrkMast wrkMast) {
			if (!isBatchOutboundTaskWithSeq(wrkMast)) {
			return 0.0d;
			}
			List<WrkMast> activeBatchTaskList = loadActiveBatchTaskList(wrkMast.getBatch());
			if (activeBatchTaskList.size() <= 1) {
			return 0.0d;
			}

			int activeTaskCount = 0;
			int predecessorCount = 0;
			for (WrkMast item : activeBatchTaskList) {
			if (!isFactorCandidateTask(item)) {
			continue;
			}
			activeTaskCount++;
			if (item.getBatchSeq() < wrkMast.getBatchSeq()) {
			predecessorCount++;
			}
			}
			if (activeTaskCount <= 1 \|\| predecessorCount <= 0) {
			return 0.0d;
			}
			return normalizePathLenFactor((double) predecessorCount / (double) (activeTaskCount - 1));
			}

			/**
			* 判断当前任务是否具备“按批次出库规则参与排序/路径偏好计算”的基础条件。
			*
			* <p>这里只做最基础的资格过滤，不关心当前是否真的需要排序点介入。
			* 只要不是批次出库任务，后面的路径偏好系数与排序目标决策都应该直接退化为默认行为。
			*/
			private boolean isBatchOutboundTaskWithSeq(WrkMast wrkMast) {
			return wrkMast != null
			&& Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
			&& !Cools.isEmpty(wrkMast.getBatch())
			&& wrkMast.getBatchSeq() != null
			&& wrkMast.getWrkNo() != null;
			}

			/**
			* 加载同一批次下仍处于活动中的出库任务。
			*
			* <p>这里用于两类计算：
			* 1. 计算路径偏好系数时，统计当前任务前面还有多少个有效前序任务。
			* 2. 当前排序点重新决策时，找出这一批“首个未完成任务”的实际批次序号。
			*
			* <p>已经完成/结算的任务不再参与当前批次的排序与偏好计算。
			*/
			private List<WrkMast> loadActiveBatchTaskList(String batch) {
			if (Cools.isEmpty(batch)) {
			return Collections.emptyList();
			}
			return wrkMastService.list(new QueryWrapper<WrkMast>()
			.eq("io_type", WrkIoType.OUT.id)
			.eq("batch", batch)
			.notIn("wrk_sts",
			WrkStsType.STATION_RUN_COMPLETE.sts,
			WrkStsType.COMPLETE_OUTBOUND.sts,
			WrkStsType.SETTLE_OUTBOUND.sts));
			}

			/**
			* 判断某条批次任务是否应该计入路径偏好系数的分母/分子统计。
			*
			* <p>这里排除没有 batchSeq 的任务以及被显式标记为 taskCancel 的任务，
			* 避免无效任务把同批次的路径偏好计算拉偏。
			*/
			private boolean isFactorCandidateTask(WrkMast wrkMast) {
			return wrkMast != null
			&& Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
			&& wrkMast.getBatchSeq() != null
			&& !"taskCancel".equals(wrkMast.getMk());
			}

			public List<Integer> getAllOutOrderList() {
			@@ -749,9 +1081,48 @@
			return list;
			}

			/**
			* 统一计算当前任务“此刻应该朝哪个目标站继续运行”。
			*
			* <p>这是出库排序、绕圈、堵塞重规划共用的目标裁决入口。
			* 不管触发来源是 OUT_ORDER、WATCH_CIRCLE 还是 RUN_BLOCK_REROUTE，
			* 只要业务语义还是“当前这票出库任务下一步该往哪里走”，都从这里得出目标站。
			*
			* <p>它做三层判断：
			* 1. 如果当前任务根本不适用出库排序，直接返回任务业务目标站 {@code wrkMast.staNo}。
			* 2. 如果适用出库排序，先算出“当前批次规则下，此刻允许前往的 dispatchStationId”。
			* 3. 如果当前站点正好就是排序决策点，再进一步判断是：
			* 直接去目标点，还是先进入绕圈目标点，或者因为严格窗口限制而暂不放行。
			*
			* <p>返回的 {@link OutOrderDispatchDecision} 不只是一个目标站，
			* 还携带了这次决策是否属于绕圈、是否来自当前排序点重新裁决等语义信息，
			* 供后续日志、session 记录和 watch-circle 判定使用。
			*
			* <p>参数含义：
			* 1. {@code currentStationId}：任务当前所在站点。用于判断当前是不是排序决策点、
			* 当前是不是已经到达 watch-circle 的下一决策站。
			* 2. {@code wrkMast}：当前任务主状态，至少要提供业务目标站、来源站、批次、序号等信息。
			* 3. {@code outOrderStationIds}：当前设备配置的所有出库排序站点列表。
			* 4. {@code pathLenFactor}：由 {@link #resolveOutboundPathLenFactor(WrkMast)} 得到的路径偏好系数，
			* 用来让同一批次任务在选择 dispatch target 时保持稳定的路径倾向。
			*
			* <p>返回值语义：
			* 1. 返回 {@code null}：当前无法得到合法目标站，调用方应跳过本次派发。
			* 2. 返回 {@code targetStationId=wrkMast.staNo, circle=false}：
			* 当前不需要出库排序干预，或已允许直接去业务目标站。
			* 3. 返回 {@code targetStationId!=wrkMast.staNo}：
			* 当前应该先去一个中间 dispatch 目标站，后续再由排序点/绕圈点继续决策。
			* 4. 返回 {@code circle=true}：
			* 当前属于绕圈决策结果，后续 watch-circle 逻辑会据此接管。
			*
			* <p>注意：
			* 这个方法只决定“目标站”，不直接生成输送命令。
			* 真正的路径由普通算路或 run-block 专用算路在后续步骤生成。
			*/
			private OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
			WrkMast wrkMast,
			List<Integer> outOrderStationIds) {
			List<Integer> outOrderStationIds,
			Double pathLenFactor) {
			if (wrkMast == null \|\| wrkMast.getStaNo() == null) {
			return null;
			}
			@@ -759,28 +1130,49 @@
			return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
			}
			Integer dispatchStationId = resolveDispatchOutOrderTarget(
			wrkMast,
			wrkMast.getSourceStaNo(),
			wrkMast.getStaNo(),
			outOrderStationIds
			outOrderStationIds,
			pathLenFactor
			);
			if (dispatchStationId == null) {
			return null;
			}
			if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
			return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds);
			if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
			return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds, pathLenFactor);
			}
			if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
			&& isCurrentOutOrderStation(currentStationId, outOrderStationIds)
			&& isWatchingCircleArrival(wrkMast.getWrkNo(), currentStationId)) {
			return new OutOrderDispatchDecision(dispatchStationId, true);
			return new OutOrderDispatchDecision(dispatchStationId, true, null, false);
			}
			return new OutOrderDispatchDecision(dispatchStationId, false);
			}

			/**
			* 在“当前站点就是本次排序决策点”时，计算这里到底该直接放行还是进入绕圈。
			*
			* <p>这是出库排序里最核心的局部决策方法。进入这里之前，已经满足：
			* 1. 当前任务适用 out-order；
			* 2. 当前站点就是这票任务此刻对应的 dispatch 排序点。
			*
			* <p>内部决策顺序：
			* 1. 先取出同批次仍未完成的任务，找出这批当前“应当被优先放行”的序号位置。
			* 2. 再结合当前任务在初始路径上的排序窗口位置，判断自己此刻能否直接去业务目标站。
			* 3. 如果理论上该自己放行，还要额外检查目标方向上是否存在可进入的 release slot。
			* 4. 如果不能直达，或者直达方向当前全部阻塞，就转成 circle 决策，寻找下一排序检测点。
			*
			* <p>返回值：
			* 1. {@code circle=false} 表示当前排序点已经允许直接去业务目标站。
			* 2. {@code circle=true} 表示当前只能先去下一绕圈目标站，后续由 watch-circle/排序点继续接力决策。
			* 3. {@code null} 表示当前既不能直达，也没找到合法的下一绕圈点，调用方应跳过本次派发。
			*/
			private OutOrderDispatchDecision resolveCurrentOutOrderDispatchDecision(Integer currentStationId,
			WrkMast wrkMast,
			List<Integer> outOrderStationIds) {
			if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
			List<Integer> outOrderStationIds,
			Double pathLenFactor) {
			if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
			return null;
			}

			@@ -806,7 +1198,7 @@

			List<NavigateNode> initPath;
			try {
			initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
			initPath = calcOutboundNavigatePath(wrkMast, wrkMast.getSourceStaNo(), wrkMast.getStaNo(), pathLenFactor);
			} catch (Exception e) {
			News.taskInfo(wrkMast.getWrkNo(), "批次:{} 计算排序路径失败，当前站点={}", wrkMast.getBatch(), currentStationId);
			return null;
			@@ -820,25 +1212,53 @@
			toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq());
			}
			if (toTarget) {
			if (hasReachableOutReleaseSlot(currentStationId, wrkMast.getStaNo())) {
			if (hasReachableOutReleaseSlot(wrkMast, currentStationId, wrkMast.getStaNo(), pathLenFactor)) {
			return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
			}
			Integer circleTarget = resolveNextCircleOrderTarget(currentStationId, outOrderStationIds);
			StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
			wrkMast.getWrkNo(),
			currentStationId,
			outOrderStationIds
			);
			Integer circleTarget = resolveNextCircleOrderTarget(
			wrkMast,
			currentStationId,
			outOrderStationIds,
			loopEvaluation.getExpectedLoopIssueCount(),
			pathLenFactor
			);
			if (circleTarget == null) {
			News.taskInfo(wrkMast.getWrkNo(), "目标站当前不可进，且未找到可执行的下一排序检测点，当前站点={}", currentStationId);
			return null;
			}
			return new OutOrderDispatchDecision(circleTarget, true);
			return new OutOrderDispatchDecision(circleTarget, true, loopEvaluation, true);
			}

			Integer circleTarget = resolveNextCircleOrderTarget(currentStationId, outOrderStationIds);
			StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
			wrkMast.getWrkNo(),
			currentStationId,
			outOrderStationIds
			);
			Integer circleTarget = resolveNextCircleOrderTarget(
			wrkMast,
			currentStationId,
			outOrderStationIds,
			loopEvaluation.getExpectedLoopIssueCount(),
			pathLenFactor
			);
			if (circleTarget == null) {
			News.taskInfo(wrkMast.getWrkNo(), "未找到可执行的下一排序检测点，当前站点={}", currentStationId);
			return null;
			}
			return new OutOrderDispatchDecision(circleTarget, true);
			return new OutOrderDispatchDecision(circleTarget, true, loopEvaluation, true);
			}

			/**
			* 判断这票任务在当前设备上是否应该启用出库排序逻辑。
			*
			* <p>只要缺少任何一个排序前提，例如不是出库任务、没有批次、没有序号、
			* 当前设备也没有配置排序点，就应该直接退回“普通目标站决策”。
			*/
			private boolean shouldApplyOutOrder(WrkMast wrkMast, List<Integer> outOrderStationIds) {
			return wrkMast != null
			&& wrkMast.getStaNo() != null
			@@ -849,22 +1269,38 @@
			&& !outOrderStationIds.isEmpty();
			}

			/**
			* 判断当前所在站点是否就是“这票任务此刻应该触发排序决策的 dispatch 站点”。
			*
			* <p>注意它不是简单判断“当前站点是否属于排序点列表”，
			* 而是先根据完整路径反推出当前任务对应的 dispatch 排序点，
			* 再判断当前位置是否正好等于这个 dispatch 点。
			*/
			private boolean isCurrentOutOrderDispatchStation(Integer currentStationId,
			WrkMast wrkMast,
			List<Integer> outOrderStationIds) {
			List<Integer> outOrderStationIds,
			Double pathLenFactor) {
			if (!shouldApplyOutOrder(wrkMast, outOrderStationIds) \|\| currentStationId == null) {
			return false;
			}
			Integer dispatchStationId = resolveDispatchOutOrderTarget(
			wrkMast,
			wrkMast.getSourceStaNo(),
			wrkMast.getStaNo(),
			outOrderStationIds
			outOrderStationIds,
			pathLenFactor
			);
			return dispatchStationId != null
			&& !Objects.equals(dispatchStationId, wrkMast.getStaNo())
			&& Objects.equals(currentStationId, dispatchStationId);
			}

			/**
			* 判断当前位置是否属于设备配置里的任意一个排序点。
			*
			* <p>这个判断比 {@link #isCurrentOutOrderDispatchStation(Integer, WrkMast, List, Double)} 更宽，
			* 只回答“当前位置是不是排序点”，不回答“是不是这票任务当前应该命中的排序点”。
			*/
			private boolean isCurrentOutOrderStation(Integer currentStationId,
			List<Integer> outOrderStationIds) {
			return currentStationId != null
			@@ -882,14 +1318,60 @@
			}
			if (dispatchDecision.isCircle()) {
			saveWatchCircleCommand(wrkMast.getWrkNo(), command);
			if (dispatchDecision.shouldCountLoopIssue()
			&& stationTaskLoopService != null
			&& dispatchDecision.getLoopEvaluation() != null) {
			stationTaskLoopService.recordLoopIssue(dispatchDecision.getLoopEvaluation(), "OUT_ORDER_CIRCLE");
			}
			} else {
			clearWatchCircleCommand(wrkMast.getWrkNo());
			}
			}

			private Integer resolveDispatchOutOrderTarget(Integer sourceStationId,
			/**
			* 为当前排序点决策预先做一次环线评估。
			*
			* <p>当本次决策最终进入绕圈时，评估结果会被带进 {@link OutOrderDispatchDecision}，
			* 后续用于记录 loop issue 统计，而不是在真正下发后再重复评估一次。
			*/
			private StationTaskLoopService.LoopEvaluation evaluateOutOrderLoop(Integer taskNo,
			Integer currentStationId,
			List<Integer> outOrderStationIds) {
			if (stationTaskLoopService == null) {
			return new StationTaskLoopService.LoopEvaluation(
			taskNo,
			currentStationId,
			StationTaskLoopService.LoopIdentitySnapshot.empty(),
			0,
			0,
			false
			);
			}
			return stationTaskLoopService.evaluateLoop(
			taskNo,
			currentStationId,
			true,
			outOrderStationIds,
			"outOrderCircle"
			);
			}

			/**
			* 从“源站到业务目标站”的完整路径里，反推出当前任务应当先命中的 dispatch 排序点。
			*
			* <p>做法是：
			* 1. 先计算从 sourceStationId 到 finalTargetStationId 的完整导航路径；
			* 2. 再从路径尾部向前扫描；
			* 3. 找到离最终目标最近的那个排序点，作为当前 dispatch 目标。
			*
			* <p>如果路径上根本没有排序点，或者缺少源站/排序点配置，
			* 就直接把业务目标站本身当成 dispatch 目标。
			*/
			private Integer resolveDispatchOutOrderTarget(WrkMast wrkMast,
			Integer sourceStationId,
			Integer finalTargetStationId,
			List<Integer> outOrderList) {
			List<Integer> outOrderList,
			Double pathLenFactor) {
			if (finalTargetStationId == null) {
			return null;
			}
			@@ -898,7 +1380,7 @@
			}

			try {
			List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, finalTargetStationId);
			List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, sourceStationId, finalTargetStationId, pathLenFactor);
			for (int i = nodes.size() - 1; i >= 0; i--) {
			Integer stationId = getStationIdFromNode(nodes.get(i));
			if (stationId == null) {
			@@ -915,14 +1397,23 @@
			return finalTargetStationId;
			}

			private boolean hasReachableOutReleaseSlot(Integer currentStationId,
			Integer finalTargetStationId) {
			/**
			* 判断从当前排序点继续前往最终业务目标站时，路径上是否至少存在一个可进入的后续站点。
			*
			* <p>这里不是要求整条路径完全畅通，而是判断“当前是否有释放口可走”。
			* 只要后续路径上存在一个未阻塞站点，就认为当前仍可尝试直达；
			* 只有整段后续路径看起来都被阻塞时，才会强制转入绕圈。
			*/
			private boolean hasReachableOutReleaseSlot(WrkMast wrkMast,
			Integer currentStationId,
			Integer finalTargetStationId,
			Double pathLenFactor) {
			if (currentStationId == null \|\| finalTargetStationId == null) {
			return true;
			}

			try {
			List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
			List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, currentStationId, finalTargetStationId, pathLenFactor);
			if (nodes == null \|\| nodes.isEmpty()) {
			return true;
			}
			@@ -968,13 +1459,40 @@
			\|\| (stationProtocol.getTaskNo() != null && stationProtocol.getTaskNo() > 0);
			}

			private Integer resolveNextCircleOrderTarget(Integer currentStationId, List<Integer> orderedOutStationList) {
			/**
			* 为“排序点需要绕圈”的场景，从出库排序站点列表里挑出下一跳绕圈目标。
			* <p>
			* 这里的输入不是整张地图，而是已经按业务顺序排好的出库站点序列。方法会从当前站点在该序列中的后继开始，
			* 依次尝试每个候选站点，并计算“当前站点 -> 候选站点”的可行路径：
			* <p>
			* 1. 只要能算出路径，就把候选站点记录为一个可选绕圈目标；
			* 2. 记录两类排序信息：
			* - pathLength：到该候选点的路径长度，越短说明越适合先拿来做临时缓冲；
			* - offset：该站点在排序序列中距离当前站点有多远，用来在路径长度相同的时候保留既有顺序感；
			* 3. 最后把候选列表交给 {@link #resolveGradualCircleTargetByPathLength(Integer, List, Double)}，
			* 再根据“当前已经绕圈多少次”与“路径长度偏好系数”从不同长度层级里挑最终目标。
			* <p>
			* 这个方法本身不判断“是否应该绕圈”，只负责在已经决定绕圈后，从排序站点链路里找一个下一跳缓冲点。
			*
			* @param wrkMast 当前任务，主要用于算路
			* @param currentStationId 当前站点，即本次准备从哪里发出绕圈命令
			* @param orderedOutStationList 已按业务顺序排好的出库站点列表
			* @param expectedLoopIssueCount 预计已发生的绕圈/堵塞轮次，用于决定是否逐步放大绕圈半径
			* @param pathLenFactor 当前任务对应的路径偏好系数，影响 calcOutboundNavigatePath 的选路结果
			* @return 下一跳绕圈目标站；如果没有任何可到达候选则返回 null
			*/
			private Integer resolveNextCircleOrderTarget(WrkMast wrkMast,
			Integer currentStationId,
			List<Integer> orderedOutStationList,
			Integer expectedLoopIssueCount,
			Double pathLenFactor) {
			if (currentStationId == null \|\| orderedOutStationList == null \|\| orderedOutStationList.size() <= 1) {
			return null;
			}

			int startIndex = orderedOutStationList.indexOf(currentStationId);
			int total = orderedOutStationList.size();
			List<CircleTargetCandidate> candidateList = new ArrayList<>();
			for (int offset = 1; offset < total; offset++) {
			int candidateIndex = (startIndex + offset + total) % total;
			Integer candidateStationId = orderedOutStationList.get(candidateIndex);
			@@ -982,13 +1500,88 @@
			continue;
			}
			try {
			List<NavigateNode> path = navigateUtils.calcByStationId(currentStationId, candidateStationId);
			List<NavigateNode> path = calcOutboundNavigatePath(wrkMast, currentStationId, candidateStationId, pathLenFactor);
			if (path != null && !path.isEmpty()) {
			return candidateStationId;
			candidateList.add(new CircleTargetCandidate(candidateStationId, path.size(), offset));
			}
			} catch (Exception ignore) {}
			}
			return null;
			if (candidateList.isEmpty()) {
			return null;
			}
			candidateList.sort(new Comparator<CircleTargetCandidate>() {
			@Override
			public int compare(CircleTargetCandidate left, CircleTargetCandidate right) {
			if (left == right) {
			return 0;
			}
			if (left == null) {
			return 1;
			}
			if (right == null) {
			return -1;
			}
			int pathCompare = Integer.compare(left.getPathLength(), right.getPathLength());
			if (pathCompare != 0) {
			return pathCompare;
			}
			return Integer.compare(left.getOffset(), right.getOffset());
			}
			});
			return resolveGradualCircleTargetByPathLength(expectedLoopIssueCount, candidateList, pathLenFactor);
			}

			/**
			* 在“已按路径长度升序排好”的绕圈候选列表中，按层级渐进地挑选目标站。
			* <p>
			* candidateList 里可能存在多个候选点拥有相同的 pathLength。对绕圈决策来说，
			* 同一长度层里的候选点都属于“同一绕圈半径”，真正需要控制的是：
			* <p>
			* 1. 初次/前几次堵塞时，优先选择最短可达层，尽量用最小绕行距离恢复流转；
			* 2. 如果任务已经连续多次在同一区域绕圈，说明短半径候选大概率已经试过或恢复效果差，
			* 就需要逐步放大到更远一层；
			* 3. pathLenFactor 代表当前任务对“短路径/长路径”的偏好，允许在相同堵塞轮次下适度往更远层偏移。
			* <p>
			* 因此这里先把 candidateList 压缩成“按 pathLength 去重后的 tierList”，每个 tier 只保留该长度层的首个候选。
			* 然后同时计算两个层级索引：
			* <p>
			* - defaultTierIndex：基于 expectedLoopIssueCount 的默认放大层级；
			* - factorTierIndex：基于 pathLenFactor 的偏好层级；
			* <p>
			* 最终取两者较大值，含义是“至少满足当前堵塞轮次需要的放大半径，同时允许路径偏好把目标推向更远层级”。
			*
			* @param expectedLoopIssueCount 预计已发生的绕圈/堵塞轮次
			* @param candidateList 已按 pathLength、offset 排序的候选列表
			* @param pathLenFactor 当前任务的路径偏好系数
			* @return 最终选中的绕圈目标站；若没有候选则返回 null
			*/
			private Integer resolveGradualCircleTargetByPathLength(Integer expectedLoopIssueCount,
			List<CircleTargetCandidate> candidateList,
			Double pathLenFactor) {
			if (candidateList == null \|\| candidateList.isEmpty()) {
			return null;
			}

			List<CircleTargetCandidate> tierList = new ArrayList<>();
			Integer lastPathLength = null;
			for (CircleTargetCandidate candidate : candidateList) {
			if (candidate == null) {
			continue;
			}
			if (lastPathLength == null \|\| !Objects.equals(lastPathLength, candidate.getPathLength())) {
			tierList.add(candidate);
			lastPathLength = candidate.getPathLength();
			}
			}
			if (tierList.isEmpty()) {
			return candidateList.get(0).getStationId();
			}
			int defaultTierIndex = expectedLoopIssueCount == null \|\| expectedLoopIssueCount <= 2
			? 0
			: Math.min(expectedLoopIssueCount - 2, tierList.size() - 1);
			int factorTierIndex = (int) Math.round(normalizePathLenFactor(pathLenFactor) * (tierList.size() - 1));
			int tierIndex = Math.max(defaultTierIndex, factorTierIndex);
			return tierList.get(tierIndex).getStationId();
			}

			private boolean tryAcquireOutOrderDispatchLock(Integer wrkNo, Integer stationId) {
			@@ -1004,9 +1597,61 @@
			return true;
			}

			private boolean shouldSkipOutOrderDispatchForExistingRoute(Integer wrkNo, Integer stationId) {
			if (stationMoveCoordinator == null \|\| wrkNo == null \|\| wrkNo <= 0 \|\| stationId == null) {
			return false;
			}
			StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
			if (session == null) {
			return false;
			}
			if (!session.isActive() \|\| !session.containsStation(stationId)) {
			return false;
			}
			// 绕圈路线在当前站点尚未走完时，排序点不应再次插手。
			if (StationMoveDispatchMode.CIRCLE == session.getDispatchMode()) {
			return true;
			}
			// 直接路线只在“当前站点已经被别的活动路线占住且目标不同”时才拦截。
			return !Objects.equals(stationId, session.getCurrentRouteTargetStationId());
			}

			private boolean isWatchingCircleArrival(Integer wrkNo, Integer stationId) {
			if (stationMoveCoordinator != null) {
			StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
			if (session != null && session.isActive() && stationId != null) {
			// nextDecisionStationId 表示这条路线真正等待重新决策的站点，到站才触发 watch-circle。
			if (stationId.equals(session.getNextDecisionStationId())) {
			return true;
			}
			// 还在 session 路径中间站运行时不应误触发。
			if (session.containsStation(stationId)) {
			return false;
			}
			}
			}
			StationCommand command = getWatchCircleCommand(wrkNo);
			return command != null && stationId != null && stationId.equals(command.getTargetStaNo());
			}

			private boolean isWatchingCircleTransit(Integer wrkNo, Integer stationId) {
			if (stationMoveCoordinator != null) {
			StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
			if (session != null && session.isActive() && stationId != null) {
			if (stationId.equals(session.getNextDecisionStationId())) {
			return false;
			}
			if (session.containsStation(stationId)) {
			return true;
			}
			}
			}
			StationCommand command = getWatchCircleCommand(wrkNo);
			if (command == null \|\| stationId == null \|\| Objects.equals(stationId, command.getTargetStaNo())) {
			return false;
			}
			List<Integer> navigatePath = command.getNavigatePath();
			return navigatePath != null && navigatePath.contains(stationId);
			}

			private StationCommand getWatchCircleCommand(Integer wrkNo) {
			@@ -1051,6 +1696,9 @@
			}

			StationTaskIdleTrack idleTrack = touchStationTaskIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
			if (shouldSkipIdleRecoverForRecentDispatch(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
			return;
			}
			if (idleTrack == null \|\| !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
			return;
			}
			@@ -1064,40 +1712,143 @@
			if (lock != null) {
			return;
			}
			Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
			RerouteContext context = RerouteContext.create(
			RerouteSceneType.IDLE_RECOVER,
			basDevp,
			stationThread,
			stationProtocol,
			wrkMast,
			outOrderList,
			pathLenFactor,
			"checkStationIdleRecover"
			).withCancelSessionBeforeDispatch()
			.withExecutionLock(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), STATION_IDLE_RECOVER_LIMIT_SECONDS)
			.withResetSegmentCommandsBeforeDispatch()
			.clearIdleIssuedCommands(idleTrack);
			executeSharedReroute(context);
			}

			OutOrderDispatchDecision dispatchDecision = null;
			Integer moveStaNo;
			if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
			dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList);
			moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
			} else {
			moveStaNo = wrkMast.getStaNo();
			}
			if (moveStaNo == null \|\| Objects.equals(moveStaNo, stationProtocol.getStationId())) {
			boolean shouldUseRunBlockDirectReassign(WrkMast wrkMast,
			Integer stationId,
			List<Integer> runBlockReassignLocStationList) {
			return wrkMast != null
			&& Objects.equals(wrkMast.getIoType(), WrkIoType.IN.id)
			&& stationId != null
			&& runBlockReassignLocStationList != null
			&& runBlockReassignLocStationList.contains(stationId);
			}

			private void executeRunBlockDirectReassign(BasDevp basDevp,
			StationThread stationThread,
			StationProtocol stationProtocol,
			WrkMast wrkMast) {
			if (basDevp == null \|\| stationThread == null \|\| stationProtocol == null \|\| wrkMast == null) {
			return;
			}

			redisUtil.set(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), "lock", STATION_IDLE_RECOVER_LIMIT_SECONDS);
			resetSegmentMoveCommandsBeforeReroute(stationProtocol.getTaskNo());
			int clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId());

			StationCommand command = stationThread.getCommand(
			StationCommandType.MOVE,
			wrkMast.getWrkNo(),
			stationProtocol.getStationId(),
			moveStaNo,
			0
			int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(
			stationProtocol.getTaskBufferItems(),
			stationProtocol.getTaskNo()
			);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(), "站点任务停留超时后重算路径失败，当前站点={}，目标站点={}", stationProtocol.getStationId(), moveStaNo);
			if (currentTaskBufferCommandCount > 0) {
			News.info("输送站点运行堵塞重分配已跳过，缓存区仍存在当前任务命令。站点号={}，工作号={}，当前任务命令数={}",
			stationProtocol.getStationId(),
			stationProtocol.getTaskNo(),
			currentTaskBufferCommandCount);
			return;
			}
			if (stationMoveCoordinator != null) {
			stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
			}
			String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
			if (Cools.isEmpty(response)) {
			News.taskError(wrkMast.getWrkNo(), "请求WMS重新分配库位接口失败，接口未响应！！！response：{}", response);
			return;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			if (!jsonObject.getInteger("code").equals(200)) {
			News.error("请求WMS接口失败！！！response：{}", response);
			return;
			}

			MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
			syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
			saveStationTaskIdleTrack(new StationTaskIdleTrack(wrkMast.getWrkNo(), stationProtocol.getStationId(), System.currentTimeMillis()));
			News.info("输送站点任务停留{}秒未运行，已重新计算路径并重启运行，站点号={}，目标站={}，工作号={}，清理旧分段命令数={}，命令数据={}",
			STATION_IDLE_RECOVER_SECONDS, stationProtocol.getStationId(), moveStaNo, wrkMast.getWrkNo(), clearedCommandCount, JSON.toJSONString(command));
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			String sourceLocNo = wrkMast.getLocNo();
			String locNo = dto.getLocNo();

			LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
			if (sourceLocMast == null) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位信息不存在", sourceLocNo);
			return;
			}
			if (!sourceLocMast.getLocSts().equals("S")) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位状态不处于入库预约", sourceLocNo);
			return;
			}

			LocMast locMast = locMastService.queryByLoc(locNo);
			if (locMast == null) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位信息不存在", locNo);
			return;
			}
			if (!locMast.getLocSts().equals("O")) {
			News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位状态不处于空库位", locNo);
			return;
			}

			FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
			if (findCrnNoResult == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}工作,未匹配到堆垛机", wrkMast.getWrkNo());
			return;
			}
			Integer crnNo = findCrnNoResult.getCrnNo();

			Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationProtocol.getStationId());
			if (targetStationId == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}站点,搜索入库站点失败", stationProtocol.getStationId());
			return;
			}

			StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
			if (command == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
			return;
			}

			sourceLocMast.setLocSts("O");
			sourceLocMast.setModiTime(new Date());
			locMastService.updateById(sourceLocMast);

			locMast.setLocSts("S");
			locMast.setModiTime(new Date());
			locMastService.updateById(locMast);

			wrkMast.setLocNo(locNo);
			wrkMast.setStaNo(targetStationId);

			if (findCrnNoResult.getCrnType().equals(SlaveType.Crn)) {
			wrkMast.setCrnNo(crnNo);
			} else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
			wrkMast.setDualCrnNo(crnNo);
			} else {
			throw new CoolException("未知设备类型");
			}

			if (!wrkMastService.updateById(wrkMast)) {
			return;
			}
			boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
			if (!offered) {
			return;
			}
			if (stationMoveCoordinator != null) {
			stationMoveCoordinator.recordDispatch(
			wrkMast.getWrkNo(),
			stationProtocol.getStationId(),
			"checkStationRunBlock_direct",
			command,
			false
			);
			}
			}

			private boolean canRecoverIdleStationTask(WrkMast wrkMast, Integer currentStationId) {
			@@ -1107,8 +1858,35 @@
			if (Objects.equals(currentStationId, wrkMast.getStaNo())) {
			return false;
			}
			return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_DEVICE_RUN.sts)
			return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN.sts)
			\|\| Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
			}

			private boolean shouldSkipIdleRecoverForRecentDispatch(Integer taskNo, Integer stationId) {
			if (stationMoveCoordinator == null \|\| taskNo == null \|\| taskNo <= 0 \|\| stationId == null) {
			return false;
			}
			StationMoveSession session = stationMoveCoordinator.loadSession(taskNo);
			if (session == null \|\| !session.isActive() \|\| session.getLastIssuedAt() == null) {
			return false;
			}
			// 分段执行过程中，刚下发下一段命令时，session 的 currentStationId/dispatchStationId
			// 可能还没来得及和当前观察站点完全对齐；只要当前站点仍在这条活动路线里，
			// 就说明这次 recent dispatch 仍然和它相关，idle recover 不应在 10 秒窗口内再次介入。
			if (!Objects.equals(stationId, session.getCurrentStationId())
			&& !Objects.equals(stationId, session.getDispatchStationId())
			&& !session.containsStation(stationId)) {
			return false;
			}
			long elapsedMs = System.currentTimeMillis() - session.getLastIssuedAt();
			long thresholdMs = STATION_IDLE_RECOVER_SECONDS * 1000L;
			if (elapsedMs >= thresholdMs) {
			return false;
			}
			saveStationTaskIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
			News.info("输送站点任务刚完成命令下发，已跳过停留重算。站点号={}，工作号={}，距上次下发={}ms，routeVersion={}",
			stationId, taskNo, elapsedMs, session.getRouteVersion());
			return true;
			}

			private void resetSegmentMoveCommandsBeforeReroute(Integer taskNo) {
			@@ -1124,6 +1902,69 @@
			} catch (Exception ignore) {
			}
			redisUtil.del(key);
			}

			private int countCurrentTaskBufferCommands(List<StationTaskBufferItem> taskBufferItems, Integer currentTaskNo) {
			if (taskBufferItems == null \|\| taskBufferItems.isEmpty() \|\| currentTaskNo == null \|\| currentTaskNo <= 0) {
			return 0;
			}
			int count = 0;
			for (StationTaskBufferItem item : taskBufferItems) {
			if (item == null \|\| item.getTaskNo() == null) {
			continue;
			}
			if (currentTaskNo.equals(item.getTaskNo())) {
			count++;
			}
			}
			return count;
			}

			private boolean offerDevpCommandWithDedup(Integer deviceNo, StationCommand command, String scene) {
			if (deviceNo == null \|\| command == null) {
			return false;
			}
			String dedupKey = buildStationCommandDispatchDedupKey(deviceNo, command);
			if (redisUtil != null) {
			Object lock = redisUtil.get(dedupKey);
			if (lock != null) {
			News.info("输送站点命令短时重复派发，已跳过。scene={}，deviceNo={}，taskNo={}，stationId={}，targetStaNo={}，commandType={}",
			scene,
			deviceNo,
			command.getTaskNo(),
			command.getStationId(),
			command.getTargetStaNo(),
			command.getCommandType());
			return false;
			}
			redisUtil.set(dedupKey, "lock", STATION_COMMAND_DISPATCH_DEDUP_SECONDS);
			}
			boolean offered = MessageQueue.offer(SlaveType.Devp, deviceNo, new Task(2, command));
			if (!offered && redisUtil != null) {
			redisUtil.del(dedupKey);
			}
			return offered;
			}

			private String buildStationCommandDispatchDedupKey(Integer deviceNo, StationCommand command) {
			return RedisKeyType.STATION_COMMAND_DISPATCH_DEDUP_.key
			+ deviceNo + "_"
			+ command.getTaskNo() + "_"
			+ command.getStationId() + "_"
			+ (stationMoveCoordinator == null ? Integer.toHexString(buildFallbackPathSignature(command).hashCode())
			: stationMoveCoordinator.buildPathSignatureHash(command));
			}

			private String buildFallbackPathSignature(StationCommand command) {
			if (command == null) {
			return "";
			}
			return String.valueOf(command.getCommandType())
			+ "_" + command.getStationId()
			+ "_" + command.getTargetStaNo()
			+ "_" + command.getNavigatePath()
			+ "_" + command.getLiftTransferPath()
			+ "_" + command.getOriginalNavigatePath();
			}

			private int clearIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
			@@ -1237,10 +2078,33 @@
			);
			}

			/**
			* 沿“源站 -> 目标站”的理论路径，从当前站点往下游回看，找出同批次任务在后续站点上的已知序号。
			* <p>
			* 严格窗口控制要回答的问题不是“当前任务自己的 batchSeq 是多少”，而是：
			* “在当前站点后面，沿这条出库链路已经排着的同批次任务，最靠近目标端的序号是多少？”
			* 只有拿到这个序号，排序点才能判断当前任务是否应该紧跟其后放行。
			* <p>
			* 具体做法：
			* <p>
			* 1. 按 pathList 从尾到头回扫，截出 searchStationId 之后的全部下游站点；
			* 2. 读取这些站点当前正在执行的任务号；
			* 3. 如果某站点上的任务属于 searchBatch，就记录它的 batchSeq；
			* 4. 返回该批次在下游已知的序号。
			* <p>
			* 这里返回的是“路径下游现场已出现的批次序号”，不是批次理论最小/最大值。
			* 如果下游没有同批次任务，返回 null，调用方需要退回到“当前批次首个未完成任务是否就是自己”的判定。
			*
			* @param pathList 从任务源站到目标站的理论出库路径
			* @param searchStationId 当前正在做排序决策的站点
			* @param searchBatch 当前任务所属批次
			* @return 下游同批次任务的已知序号；若路径下游尚未出现该批次则返回 null
			*/
			public Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
			if (pathList == null \|\| pathList.isEmpty() \|\| searchStationId == null \|\| Cools.isEmpty(searchBatch)) {
			return null;
			}
			// 只关心当前站点之后的下游站点，当前站点之前的节点不会影响“谁应该排在我前面”。
			List<Integer> checkList = new ArrayList<>();
			for (int i = pathList.size() - 1; i >= 0; i--) {
			NavigateNode node = pathList.get(i);
			@@ -1255,6 +2119,7 @@
			}
			}

			// 下游站点可能同时挂着多个不同批次任务；这里只抽取与当前批次相关的现场序号快照。
			HashMap<String, Integer> batchMap = new HashMap<>();
			for (Integer station : checkList) {
			BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", station));
			@@ -1365,6 +2230,15 @@
			Integer sourceStationId,
			Integer targetStationId,
			LoadGuardState loadGuardState) {
			return findPathLoopHit(config, sourceStationId, targetStationId, loadGuardState, null, null);
			}

			private LoopHitResult findPathLoopHit(DispatchLimitConfig config,
			Integer sourceStationId,
			Integer targetStationId,
			LoadGuardState loadGuardState,
			WrkMast wrkMast,
			Double pathLenFactor) {
			if (!config.loopModeEnable) {
			return LoopHitResult.NO_HIT;
			}
			@@ -1376,7 +2250,9 @@
			}

			try {
			List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, targetStationId);
			List<NavigateNode> nodes = wrkMast == null
			? navigateUtils.calcByStationId(sourceStationId, targetStationId)
			: calcOutboundNavigatePath(wrkMast, sourceStationId, targetStationId, pathLenFactor);
			if (nodes == null \|\| nodes.isEmpty()) {
			return LoopHitResult.NO_HIT;
			}
			@@ -1420,13 +2296,440 @@
			return value;
			}

			private Double normalizePathLenFactor(Double pathLenFactor) {
			if (pathLenFactor == null \|\| pathLenFactor < 0.0d) {
			return 0.0d;
			}
			if (pathLenFactor > 1.0d) {
			return 1.0d;
			}
			return pathLenFactor;
			}

			enum RerouteSceneType {
			RUN_BLOCK_REROUTE,
			IDLE_RECOVER,
			OUT_ORDER,
			WATCH_CIRCLE
			}

			static final class RerouteDecision {
			private final boolean skip;
			private final String skipReason;
			private final Integer targetStationId;
			private final OutOrderDispatchDecision dispatchDecision;

			private RerouteDecision(boolean skip,
			String skipReason,
			Integer targetStationId,
			OutOrderDispatchDecision dispatchDecision) {
			this.skip = skip;
			this.skipReason = skipReason;
			this.targetStationId = targetStationId;
			this.dispatchDecision = dispatchDecision;
			}

			static RerouteDecision skip(String reason) {
			return new RerouteDecision(true, reason, null, null);
			}

			static RerouteDecision proceed(Integer targetStationId) {
			return new RerouteDecision(false, null, targetStationId, null);
			}

			static RerouteDecision proceed(Integer targetStationId,
			OutOrderDispatchDecision dispatchDecision) {
			return new RerouteDecision(false, null, targetStationId, dispatchDecision);
			}

			boolean skip() {
			return skip;
			}

			String skipReason() {
			return skipReason;
			}

			Integer targetStationId() {
			return targetStationId;
			}

			OutOrderDispatchDecision dispatchDecision() {
			return dispatchDecision;
			}
			}

			/**
			* 重算/重发链路的一次性执行上下文。
			*
			* <p>这个对象只在一次 reroute 执行过程中存在，不会落库，也不会长期缓存。
			* 它的职责不是表达业务状态，而是把“这次为什么进来、当前用哪套运行时对象、
			* 下发前后要不要启用额外控制逻辑”集中打包，供统一执行链路使用。
			*
			* <p>统一执行链路大致分三段：
			* 1. {@code resolveSharedRerouteDecision} 根据当前任务和场景先决策目标站。
			* 2. {@code buildRerouteCommandPlan} 决定用普通出库算路还是 run-block 专用算路。
			* 3. {@code executeReroutePlan} 按上下文里的开关决定是否做 suppress、是否加锁、
			* 是否先 cancel 旧 session、是否先清旧分段命令，然后真正下发。
			*
			* <p>字段可以分成四组理解：
			* 1. 场景与运行时对象：
			* {@code sceneType} / {@code basDevp} / {@code stationThread} /
			* {@code stationProtocol} / {@code wrkMast}
			* 表示“谁在什么场景下触发了这次重算”。
			* 2. 目标决策输入：
			* {@code outOrderStationIds} / {@code pathLenFactor}
			* 表示“目标站如何算、路径倾向系数是多少”。
			* 3. 下发目标信息：
			* {@code dispatchScene} / {@code dispatchDeviceNo}
			* 表示“这次命令最终往哪个输送设备队列发，以及日志/去重场景名是什么”。
			* 4. 执行控制开关：
			* {@code useRunBlockCommand} / {@code checkSuppressDispatch} /
			* {@code requireOutOrderDispatchLock} / {@code cancelSessionBeforeDispatch} /
			* {@code resetSegmentCommandsBeforeDispatch} / {@code clearIdleIssuedCommands} /
			* {@code checkRecentDispatch} / {@code executionLockKey} / {@code executionLockSeconds}
			* 表示“真正执行前后要打开哪些保护动作”。
			*
			* <p>它本质上是一个参数对象加布尔开关集合：
			* {@code create(...)} 先把这次 reroute 的基础现场填进来，
			* 再通过 {@code withXxx(...)} 逐项声明这次执行需要附加哪些控制语义。
			*
			* <p>例如：
			* RUN_BLOCK_REROUTE 会打开 {@code useRunBlockCommand}，
			* 并要求在下发前先 {@code cancelSession}、先清旧分段命令；
			* OUT_ORDER 会打开 suppress guard 和 out-order lock；
			* IDLE_RECOVER 则会打开 recent dispatch guard，并记录/清理停留期间已下发命令。
			*/
			static final class RerouteContext {
			// 本次 reroute 的触发来源。决定后面走哪类目标裁决、日志文案和特殊保护分支。
			private final RerouteSceneType sceneType;
			// 当前输送设备配置，主要用于拿默认下发设备号和相关站点配置。
			private final BasDevp basDevp;
			// 当前站点线程，后面构造输送命令时直接依赖它取 command。
			private final StationThread stationThread;
			// 触发这次 reroute 的现场站点状态快照，包含 stationId/taskNo/runBlock/targetStaNo 等运行时信息。
			private final StationProtocol stationProtocol;
			// 当前工作主表记录，表示这次重算对应的任务主状态。
			private final WrkMast wrkMast;
			// 当前设备的出库排序点列表。目标站决策时需要知道哪些站点属于 out-order 节点。
			private final List<Integer> outOrderStationIds;
			// 路径长度倾向系数。批次出库时用于让不同任务对路径选择有稳定偏好。
			private final Double pathLenFactor;
			// 这次派发在日志、去重、session 记录中使用的场景名，例如 checkStationRunBlock_reroute。
			private final String dispatchScene;
			// 实际投递命令的设备号。默认取 basDevp.getDevpNo()，某些场景可显式覆盖。
			private Integer dispatchDeviceNo;
			// true 表示命令构造阶段改走 stationThread.getRunBlockRerouteCommand，而不是普通出库算路。
			private boolean useRunBlockCommand;
			// true 表示执行前要先做 active-session suppress，避免旧活动路线被重复插入新命令。
			private boolean checkSuppressDispatch;
			// true 表示执行前要加 out-order 专用短锁，防止同一排序点短时间重复计算/下发。
			private boolean requireOutOrderDispatchLock;
			// true 表示真正下发前先取消旧 session。通常用于 reroute 替换旧路线。
			private boolean cancelSessionBeforeDispatch;
			// true 表示真正下发前先清理旧分段输送命令，避免 segment executor 还持有旧路线。
			private boolean resetSegmentCommandsBeforeDispatch;
			// true 表示要清理 idle recover 期间已经下发过但未实际生效的旧命令痕迹。
			private boolean clearIdleIssuedCommands;
			// true 表示执行前要检查“最近刚下发过”，用于 idle recover 避免刚发完就重算。
			private boolean checkRecentDispatch;
			// 可选执行锁 key。用于给某个 reroute 场景加短时间互斥。
			private String executionLockKey;
			// executionLockKey 对应的锁秒数。
			private int executionLockSeconds;
			// 仅 idle recover 需要，记录停留跟踪上下文，供清理旧命令与更新时间使用。
			private StationTaskIdleTrack idleTrack;

			private RerouteContext(RerouteSceneType sceneType,
			BasDevp basDevp,
			StationThread stationThread,
			StationProtocol stationProtocol,
			WrkMast wrkMast,
			List<Integer> outOrderStationIds,
			Double pathLenFactor,
			String dispatchScene) {
			this.sceneType = sceneType;
			this.basDevp = basDevp;
			this.stationThread = stationThread;
			this.stationProtocol = stationProtocol;
			this.wrkMast = wrkMast;
			this.outOrderStationIds = outOrderStationIds == null ? Collections.emptyList() : outOrderStationIds;
			this.pathLenFactor = pathLenFactor;
			this.dispatchScene = dispatchScene;
			this.dispatchDeviceNo = basDevp == null ? null : basDevp.getDevpNo();
			}

			static RerouteContext create(RerouteSceneType sceneType,
			BasDevp basDevp,
			StationThread stationThread,
			StationProtocol stationProtocol,
			WrkMast wrkMast,
			List<Integer> outOrderStationIds,
			Double pathLenFactor,
			String dispatchScene) {
			// create 只负责填基础现场，不默认打开任何执行开关。
			// 每个场景后面通过 withXxx 明确声明自己需要哪些附加控制。
			return new RerouteContext(sceneType, basDevp, stationThread, stationProtocol, wrkMast, outOrderStationIds, pathLenFactor, dispatchScene);
			}

			RerouteContext withDispatchDeviceNo(Integer dispatchDeviceNo) {
			// 覆盖默认下发设备号。典型场景是 out-order 站点配置的 deviceNo 与 basDevp 默认值不同。
			this.dispatchDeviceNo = dispatchDeviceNo;
			return this;
			}

			RerouteContext withRunBlockCommand() {
			// 命令构造阶段切换到 run-block 专用算路器。
			// 目标站仍由统一决策逻辑决定，只是“去目标站的路径”改为堵塞重规划算法生成。
			this.useRunBlockCommand = true;
			return this;
			}

			RerouteContext withSuppressDispatchGuard() {
			// 执行前启用 session suppress：
			// 如果当前 task 在当前位置已经有一条活动中的同路径/同覆盖范围路线，则本次不再重复派发。
			this.checkSuppressDispatch = true;
			return this;
			}

			RerouteContext withOutOrderDispatchLock() {
			// 执行前启用排序点短锁。
			// 主要防止同一个 out-order/watch-circle 触发点在极短时间内被并发重复重算。
			this.requireOutOrderDispatchLock = true;
			return this;
			}

			RerouteContext withCancelSessionBeforeDispatch() {
			// 执行前显式取消旧 session。
			// 语义是“本次命令准备替换旧路线”，旧 routeVersion 之后不应再继续推进。
			this.cancelSessionBeforeDispatch = true;
			return this;
			}

			RerouteContext withResetSegmentCommandsBeforeDispatch() {
			// 执行前清掉 segment executor 侧旧分段命令。
			// 这对 run-block/idle recover 很关键，否则系统可能还拿着旧 segment 状态阻断新路线。
			this.resetSegmentCommandsBeforeDispatch = true;
			return this;
			}

			RerouteContext clearIdleIssuedCommands(StationTaskIdleTrack idleTrack) {
			// 仅 idle recover 使用：
			// 表示重启前要把“停留期间已经发过但可能未真正执行的命令痕迹”清理掉。
			this.clearIdleIssuedCommands = true;
			this.idleTrack = idleTrack;
			return this;
			}

			RerouteContext withRecentDispatchGuard() {
			// 执行前检查最近是否刚下发过。
			// 避免 idle recover 在“刚重发完”的窗口内又马上触发一次。
			this.checkRecentDispatch = true;
			return this;
			}

			RerouteContext withExecutionLock(String executionLockKey, int executionLockSeconds) {
			// 为某个场景挂一个独立执行锁。
			// 和 out-order lock 不同，这里是泛化锁，谁传 key 谁负责定义锁语义。
			this.executionLockKey = executionLockKey;
			this.executionLockSeconds = executionLockSeconds;
			return this;
			}

			RerouteSceneType sceneType() {
			return sceneType;
			}

			BasDevp basDevp() {
			return basDevp;
			}

			StationThread stationThread() {
			return stationThread;
			}

			StationProtocol stationProtocol() {
			return stationProtocol;
			}

			WrkMast wrkMast() {
			return wrkMast;
			}

			List<Integer> outOrderStationIds() {
			return outOrderStationIds;
			}

			Double pathLenFactor() {
			return pathLenFactor;
			}

			String dispatchScene() {
			return dispatchScene;
			}

			Integer dispatchDeviceNo() {
			return dispatchDeviceNo;
			}

			boolean useRunBlockCommand() {
			return useRunBlockCommand;
			}

			boolean checkSuppressDispatch() {
			return checkSuppressDispatch;
			}

			boolean requireOutOrderDispatchLock() {
			return requireOutOrderDispatchLock;
			}

			boolean cancelSessionBeforeDispatch() {
			return cancelSessionBeforeDispatch;
			}

			boolean resetSegmentCommandsBeforeDispatch() {
			return resetSegmentCommandsBeforeDispatch;
			}

			boolean clearIdleIssuedCommands() {
			return clearIdleIssuedCommands;
			}

			boolean checkRecentDispatch() {
			return checkRecentDispatch;
			}

			String executionLockKey() {
			return executionLockKey;
			}

			int executionLockSeconds() {
			return executionLockSeconds;
			}

			StationTaskIdleTrack idleTrack() {
			return idleTrack;
			}
			}

			static final class RerouteCommandPlan {
			private final boolean skip;
			private final String skipReason;
			private final StationCommand command;
			private final RerouteDecision decision;
			private final String dispatchScene;

			private RerouteCommandPlan(boolean skip,
			String skipReason,
			StationCommand command,
			RerouteDecision decision,
			String dispatchScene) {
			this.skip = skip;
			this.skipReason = skipReason;
			this.command = command;
			this.decision = decision;
			this.dispatchScene = dispatchScene;
			}

			static RerouteCommandPlan skip(String reason) {
			return new RerouteCommandPlan(true, reason, null, null, null);
			}

			static RerouteCommandPlan dispatch(StationCommand command,
			RerouteDecision decision,
			String dispatchScene) {
			return new RerouteCommandPlan(false, null, command, decision, dispatchScene);
			}

			boolean skip() {
			return skip;
			}

			String skipReason() {
			return skipReason;
			}

			StationCommand command() {
			return command;
			}

			RerouteDecision decision() {
			return decision;
			}

			String dispatchScene() {
			return dispatchScene;
			}
			}

			static final class RerouteExecutionResult {
			private final boolean skipped;
			private final String skipReason;
			private final boolean dispatched;
			private final StationCommand command;
			private final int clearedCommandCount;

			private RerouteExecutionResult(boolean skipped,
			String skipReason,
			boolean dispatched,
			StationCommand command,
			int clearedCommandCount) {
			this.skipped = skipped;
			this.skipReason = skipReason;
			this.dispatched = dispatched;
			this.command = command;
			this.clearedCommandCount = clearedCommandCount;
			}

			static RerouteExecutionResult skip(String reason) {
			return new RerouteExecutionResult(true, reason, false, null, 0);
			}

			static RerouteExecutionResult dispatched(StationCommand command,
			int clearedCommandCount) {
			return new RerouteExecutionResult(false, null, true, command, clearedCommandCount);
			}

			boolean skipped() {
			return skipped;
			}

			String skipReason() {
			return skipReason;
			}

			boolean dispatched() {
			return dispatched;
			}

			StationCommand command() {
			return command;
			}

			int clearedCommandCount() {
			return clearedCommandCount;
			}
			}

			private static class OutOrderDispatchDecision {
			private final Integer targetStationId;
			private final boolean circle;
			private final StationTaskLoopService.LoopEvaluation loopEvaluation;
			private final boolean countLoopIssue;

			private OutOrderDispatchDecision(Integer targetStationId, boolean circle) {
			this(targetStationId, circle, null, false);
			}

			private OutOrderDispatchDecision(Integer targetStationId,
			boolean circle,
			StationTaskLoopService.LoopEvaluation loopEvaluation,
			boolean countLoopIssue) {
			this.targetStationId = targetStationId;
			this.circle = circle;
			this.loopEvaluation = loopEvaluation;
			this.countLoopIssue = countLoopIssue;
			}

			private Integer getTargetStationId() {
			@@ -1436,6 +2739,38 @@
			private boolean isCircle() {
			return circle;
			}

			private StationTaskLoopService.LoopEvaluation getLoopEvaluation() {
			return loopEvaluation;
			}

			private boolean shouldCountLoopIssue() {
			return countLoopIssue;
			}
			}

			private static class CircleTargetCandidate {
			private final Integer stationId;
			private final Integer pathLength;
			private final Integer offset;

			private CircleTargetCandidate(Integer stationId, Integer pathLength, Integer offset) {
			this.stationId = stationId;
			this.pathLength = pathLength == null ? 0 : pathLength;
			this.offset = offset == null ? 0 : offset;
			}

			private Integer getStationId() {
			return stationId;
			}

			private Integer getPathLength() {
			return pathLength;
			}

			private Integer getOffset() {
			return offset;
			}
			}

			private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {