#

Junjie

13 小时以前 cb1672bfd82f1666f0a9480a6458eac2fabcfa9a

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

@@ -4,6 +4,7 @@
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
@@ -11,16 +12,22 @@
import com.zy.asrs.domain.path.StationPathProfileConfig;
import com.zy.asrs.domain.path.StationPathResolvedPolicy;
import com.zy.asrs.domain.path.StationPathRuleConfig;
import com.zy.asrs.domain.vo.StationTaskTraceSegmentVo;
import com.zy.asrs.entity.BasStationOpt;
import com.zy.asrs.domain.vo.StationTaskTraceVo;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasStation;
import com.zy.asrs.service.BasStationOptService;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.service.StationPathPolicyService;
import com.zy.core.News;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.enums.StationCommandType;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

@@ -36,25 +43,40 @@
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 String CFG_STATION_PATH_LEN_WEIGHT_PERCENT = "stationPathLenWeightPercent";
    private static final String CFG_STATION_PATH_CONG_WEIGHT_PERCENT = "stationPathCongWeightPercent";
    private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT = "stationPathPassOtherOutStationWeightPercent";
    private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP = "stationPathPassOtherOutStationForceSkip";
    private static final double CONGESTION_BUSY_BASE = 1.0d;
    private static final double CONGESTION_ISSUED_RESERVE_BASE = 0.75d;
    private static final double CONGESTION_PENDING_QUEUE_BASE = 0.45d;
    private static final double CONGESTION_RUN_BLOCK_BASE = 1.5d;
    private static final double WAIT_BUSY_SECONDS = 10.0d;
    private static final double WAIT_ISSUED_RESERVE_SECONDS = 8.0d;
    private static final double WAIT_PENDING_QUEUE_SECONDS = 5.0d;
    private static final double WAIT_RUN_BLOCK_SECONDS = 30.0d;
    private static final int DEADLOCK_PREFIX_LOOKAHEAD = 6;

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

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

    public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId, Integer currentTaskNo) {
        BasStation startStation = basStationService.getById(startStationId);
        if (startStation == null) {
            throw new CoolException("未找到该 起点 对应的站点数据");
@@ -81,21 +103,34 @@

        long startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径开始计算,startStationId={},endStationId={}", startStationId, endStationId);
        int calcMaxDepth = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxDepth(), 120) : 120;
        int calcMaxPaths = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxPaths(), 500) : 500;
        int calcMaxCost = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxCost(), 300) : 300;
        List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, calcMaxDepth, calcMaxPaths, calcMaxCost);
        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");
            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 = resolvedPolicy.useTwoStage()
                ? findStationBestPathTwoStage(allList, resolvedPolicy)
                : findStationBestPath(allList);
        List<NavigateNode> list = findStationBestPathTwoStage(allList, resolvedPolicy, currentTaskNo);
        News.info("[WCS Debug] 站点路径权重分析完成，耗时：{}ms", System.currentTimeMillis() - startTime);

        //去重
@@ -248,12 +283,14 @@
                }
            }
        } catch (Exception e) {
            News.warn("站点路径策略加载失败，回退 legacy: {}", e.getMessage());
            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> findStationBestPathTwoStage(List<List<NavigateNode>> allList, StationPathResolvedPolicy resolvedPolicy) {
    private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
                                                           StationPathResolvedPolicy resolvedPolicy,
                                                           Integer currentTaskNo) {
        if (allList == null || allList.isEmpty()) {
            return new ArrayList<>();
        }
@@ -264,11 +301,21 @@
        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()) {
@@ -281,14 +328,38 @@

        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;
            }
            metricsList.add(buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig));
            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={}",
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
            } 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={}",
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
                        resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
            }
            return new ArrayList<>();
        }

@@ -336,6 +407,31 @@
                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);
@@ -391,6 +487,24 @@
        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
@@ -398,10 +512,64 @@
                && !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();
        }

        List<Integer> sequence = new ArrayList<>();
        appendGuideStation(sequence, startStationId);

        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));
                }
                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) {
@@ -438,8 +606,11 @@
    private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
                                                       Map<Integer, StationProtocol> statusMap,
                                                       Map<Integer, Double> stationLoopLoadMap,
                                                       StationTrafficSnapshot trafficSnapshot,
                                                       StationPathProfileConfig profileConfig,
                                                       StationPathRuleConfig ruleConfig) {
                                                       StationPathRuleConfig ruleConfig,
                                                       PathGlobalPolicy globalPolicy,
                                                       Set<Integer> outStationIdSet) {
        PathCandidateMetrics metrics = new PathCandidateMetrics();
        metrics.path = path;
        metrics.pathLen = path.size();
@@ -447,25 +618,37 @@
        metrics.liftTransferCount = countLiftTransferCount(path);

        List<Integer> stationIdList = extractStationIdList(path);
        metrics.busyStationCount = countBusyStationCount(stationIdList, statusMap);
        metrics.congestionScore = calcCongestionScore(stationIdList, trafficSnapshot);
        metrics.queueDepthScore = calcQueueDepthScore(stationIdList, trafficSnapshot);
        metrics.estimatedWaitSeconds = calcEstimatedWaitSeconds(stationIdList, trafficSnapshot);
        metrics.deadlockRiskScore = calcDeadlockRiskScore(stationIdList, trafficSnapshot);
        metrics.runBlockCount = countRunBlockCount(stationIdList, statusMap);
        metrics.loopPenalty = calcLoopPenalty(stationIdList, stationLoopLoadMap);
        metrics.passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
        metrics.softDeviationCount = calcSoftDeviationCount(stationIdList,
                ruleConfig == null || ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
                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) * metrics.pathLen
                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) * metrics.busyStationCount
                safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.congestionScore
                        + safeDouble(profileConfig.getS2QueueWeight(), 2.5d) * metrics.queueDepthScore
                        + safeDouble(profileConfig.getS2WaitWeight(), 1.5d) * (metrics.estimatedWaitSeconds / 60.0d)
                        + safeDouble(profileConfig.getS2DeadlockWeight(), 8.0d) * metrics.deadlockRiskScore
                        + safeDouble(profileConfig.getS2RunBlockWeight(), 10.0d) * metrics.runBlockCount
                        + safeDouble(profileConfig.getS2LoopLoadWeight(), 12.0d) * metrics.loopPenalty;
        return metrics;
@@ -510,15 +693,67 @@
        return count;
    }

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

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

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

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

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

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

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

    private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
@@ -543,19 +778,19 @@
        return maxLoad;
    }

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

    private List<Integer> extractStationIdList(List<NavigateNode> path) {
@@ -571,6 +806,96 @@
            }
        }
        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() {
@@ -623,6 +948,792 @@
        return stationLoopLoadMap;
    }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo, Map<Integer, StationProtocol> statusMap) {
        Map<Integer, StationTaskTraceVo> traceMap = new LinkedHashMap<>();
        if (stationTaskTraceRegistry != null) {
            try {
                List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listLatestTraces();
                if (traceList != null) {
                    for (StationTaskTraceVo traceVo : traceList) {
                        if (!isPlanningActiveTrace(traceVo)) {
                            continue;
                        }
                        if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
                            continue;
                        }
                        if (traceVo.getTaskNo() != null) {
                            traceMap.put(traceVo.getTaskNo(), traceVo);
                        }
                    }
                }
            } catch (Exception ignore) {
            }
        }
        Map<Integer, StationTaskTraceVo> fallbackTraceMap = loadFallbackActiveTraceMap(currentTaskNo, statusMap, traceMap.keySet());
        if (!fallbackTraceMap.isEmpty()) {
            traceMap.putAll(fallbackTraceMap);
        }
        return new ArrayList<>(traceMap.values());
    }

    private boolean isPlanningActiveTrace(StationTaskTraceVo traceVo) {
        if (traceVo == null) {
            return false;
        }
        String status = traceVo.getStatus();
        return StationTaskTraceRegistry.STATUS_WAITING.equals(status)
                || StationTaskTraceRegistry.STATUS_RUNNING.equals(status)
                || StationTaskTraceRegistry.STATUS_REROUTED.equals(status);
    }

    private Map<Integer, StationTaskTraceVo> loadFallbackActiveTraceMap(Integer currentTaskNo,
                                                                        Map<Integer, StationProtocol> statusMap,
                                                                        Set<Integer> existingTaskNoSet) {
        if (basStationOptService == null || statusMap == null || statusMap.isEmpty()) {
            return Collections.emptyMap();
        }

        Map<Integer, StationProtocol> activeTaskProtocolMap = new LinkedHashMap<>();
        for (StationProtocol protocol : statusMap.values()) {
            if (protocol == null || protocol.getTaskNo() == null || protocol.getTaskNo() <= 0) {
                continue;
            }
            if (!Boolean.TRUE.equals(protocol.isLoading())) {
                continue;
            }
            if (currentTaskNo != null && currentTaskNo.equals(protocol.getTaskNo())) {
                continue;
            }
            if (existingTaskNoSet != null && existingTaskNoSet.contains(protocol.getTaskNo())) {
                continue;
            }
            activeTaskProtocolMap.putIfAbsent(protocol.getTaskNo(), protocol);
        }
        if (activeTaskProtocolMap.isEmpty()) {
            return Collections.emptyMap();
        }

        List<Integer> taskNoList = new ArrayList<>(activeTaskProtocolMap.keySet());
        int limit = Math.max(50, taskNoList.size() * 8);
        List<BasStationOpt> optList;
        try {
            optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
                    .select("id", "task_no", "send_time", "command", "mode", "send", "target_station_id")
                    .in("task_no", taskNoList)
                    .eq("send", 1)
                    .orderByDesc("send_time")
                    .last("limit " + limit));
        } catch (Exception ignore) {
            return Collections.emptyMap();
        }
        if (optList == null || optList.isEmpty()) {
            return Collections.emptyMap();
        }

        Map<Integer, List<FallbackMoveCommand>> fallbackCommandMap = new LinkedHashMap<>();
        for (BasStationOpt opt : optList) {
            FallbackMoveCommand moveCommand = parseFallbackMoveCommand(opt);
            if (moveCommand == null || moveCommand.taskNo == null) {
                continue;
            }
            if (!activeTaskProtocolMap.containsKey(moveCommand.taskNo)) {
                continue;
            }
            fallbackCommandMap.computeIfAbsent(moveCommand.taskNo, key -> new ArrayList<>()).add(moveCommand);
        }

        Map<Integer, StationTaskTraceVo> result = new LinkedHashMap<>();
        for (Map.Entry<Integer, StationProtocol> entry : activeTaskProtocolMap.entrySet()) {
            Integer taskNo = entry.getKey();
            StationProtocol protocol = entry.getValue();
            StationTaskTraceVo fallbackTrace = buildFallbackTraceVo(taskNo, protocol, fallbackCommandMap.get(taskNo));
            if (fallbackTrace != null) {
                result.put(taskNo, fallbackTrace);
            }
        }
        return result;
    }

    private FallbackMoveCommand parseFallbackMoveCommand(BasStationOpt opt) {
        if (opt == null || opt.getTaskNo() == null || opt.getTaskNo() <= 0) {
            return null;
        }
        try {
            StationCommand command = JSON.parseObject(opt.getCommand(), StationCommand.class);
            if (command == null || command.getCommandType() != StationCommandType.MOVE) {
                return null;
            }
            List<Integer> navigatePath = distinctPositiveStationIds(command.getNavigatePath());
            if (navigatePath.isEmpty()) {
                return null;
            }
            FallbackMoveCommand item = new FallbackMoveCommand();
            item.taskNo = opt.getTaskNo();
            item.traceVersion = command.getTraceVersion();
            item.segmentNo = command.getSegmentNo();
            item.segmentCount = command.getSegmentCount();
            item.stationId = command.getStationId();
            item.targetStaNo = command.getTargetStaNo();
            item.navigatePath = navigatePath;
            item.sendTime = opt.getSendTime();
            return item;
        } catch (Exception ignore) {
            return null;
        }
    }

    private StationTaskTraceVo buildFallbackTraceVo(Integer taskNo,
                                                    StationProtocol protocol,
                                                    List<FallbackMoveCommand> commandList) {
        if (taskNo == null || protocol == null || commandList == null || commandList.isEmpty()) {
            return null;
        }

        Integer latestTraceVersion = null;
        long latestTimestamp = 0L;
        for (FallbackMoveCommand item : commandList) {
            if (item == null) {
                continue;
            }
            if (item.traceVersion != null && (latestTraceVersion == null || item.traceVersion > latestTraceVersion)) {
                latestTraceVersion = item.traceVersion;
            }
            long ts = item.sendTime == null ? 0L : item.sendTime.getTime();
            if (ts > latestTimestamp) {
                latestTimestamp = ts;
            }
        }

        List<FallbackMoveCommand> sameTraceCommandList = new ArrayList<>();
        for (FallbackMoveCommand item : commandList) {
            if (item == null) {
                continue;
            }
            if (latestTraceVersion == null || latestTraceVersion.equals(item.traceVersion)) {
                sameTraceCommandList.add(item);
            }
        }
        sameTraceCommandList.sort((a, b) -> {
            int av = a.segmentNo == null ? Integer.MAX_VALUE : a.segmentNo;
            int bv = b.segmentNo == null ? Integer.MAX_VALUE : b.segmentNo;
            if (av != bv) {
                return Integer.compare(av, bv);
            }
            long at = a.sendTime == null ? 0L : a.sendTime.getTime();
            long bt = b.sendTime == null ? 0L : b.sendTime.getTime();
            return Long.compare(at, bt);
        });

        List<Integer> issuedPath = new ArrayList<>();
        List<StationTaskTraceSegmentVo> segmentList = new ArrayList<>();
        FallbackMoveCommand latestCommand = null;
        for (FallbackMoveCommand item : sameTraceCommandList) {
            if (item == null || item.navigatePath == null || item.navigatePath.isEmpty()) {
                continue;
            }
            appendMergedPath(issuedPath, item.navigatePath);
            segmentList.add(toTraceSegment(item));
            if (latestCommand == null || compareFallbackCommand(item, latestCommand) > 0) {
                latestCommand = item;
            }
        }
        if (issuedPath.isEmpty()) {
            return null;
        }

        Integer currentStationId = protocol.getStationId();
        List<Integer> passedStationIds = new ArrayList<>();
        List<Integer> pendingStationIds = new ArrayList<>();
        if (currentStationId != null) {
            int currentIndex = issuedPath.indexOf(currentStationId);
            if (currentIndex >= 0) {
                passedStationIds = copyIntegerSubList(issuedPath, 0, currentIndex);
                pendingStationIds = copyIntegerSubList(issuedPath, currentIndex + 1, issuedPath.size());
            } else {
                pendingStationIds = new ArrayList<>(issuedPath);
            }
        } else {
            pendingStationIds = new ArrayList<>(issuedPath);
        }

        StationTaskTraceVo vo = new StationTaskTraceVo();
        vo.setTaskNo(taskNo);
        vo.setThreadImpl("DB_FALLBACK");
        vo.setStatus(StationTaskTraceRegistry.STATUS_RUNNING);
        vo.setTraceVersion(latestTraceVersion == null ? 1 : latestTraceVersion);
        vo.setStartStationId(issuedPath.isEmpty() ? null : issuedPath.get(0));
        vo.setCurrentStationId(currentStationId);
        vo.setFinalTargetStationId(protocol.getTargetStaNo() != null ? protocol.getTargetStaNo()
                : latestCommand == null ? null : latestCommand.targetStaNo);
        vo.setBlockedStationId(null);
        vo.setFullPathStationIds(new ArrayList<>(issuedPath));
        vo.setIssuedStationIds(new ArrayList<>(issuedPath));
        vo.setPassedStationIds(passedStationIds);
        vo.setPendingStationIds(pendingStationIds);
        vo.setLatestIssuedSegmentPath(latestCommand == null ? Collections.emptyList() : new ArrayList<>(latestCommand.navigatePath));
        vo.setSegmentList(segmentList);
        vo.setIssuedSegmentCount(segmentList.size());
        vo.setTotalSegmentCount(latestCommand == null || latestCommand.segmentCount == null
                ? segmentList.size()
                : latestCommand.segmentCount);
        vo.setUpdatedAt(latestTimestamp > 0L ? latestTimestamp : System.currentTimeMillis());
        vo.setEvents(Collections.emptyList());
        return vo;
    }

    private int compareFallbackCommand(FallbackMoveCommand a, FallbackMoveCommand b) {
        int av = a == null || a.segmentNo == null ? Integer.MIN_VALUE : a.segmentNo;
        int bv = b == null || b.segmentNo == null ? Integer.MIN_VALUE : b.segmentNo;
        if (av != bv) {
            return Integer.compare(av, bv);
        }
        long at = a == null || a.sendTime == null ? 0L : a.sendTime.getTime();
        long bt = b == null || b.sendTime == null ? 0L : b.sendTime.getTime();
        return Long.compare(at, bt);
    }

    private StationTaskTraceSegmentVo toTraceSegment(FallbackMoveCommand item) {
        StationTaskTraceSegmentVo segmentVo = new StationTaskTraceSegmentVo();
        if (item == null) {
            return segmentVo;
        }
        segmentVo.setSegmentNo(item.segmentNo);
        segmentVo.setSegmentCount(item.segmentCount);
        segmentVo.setStationId(item.stationId);
        segmentVo.setTargetStationId(item.targetStaNo);
        segmentVo.setSegmentPath(item.navigatePath == null ? Collections.emptyList() : new ArrayList<>(item.navigatePath));
        segmentVo.setIssued(Boolean.TRUE);
        return segmentVo;
    }

    private void appendMergedPath(List<Integer> target, List<Integer> source) {
        if (target == null || source == null || source.isEmpty()) {
            return;
        }
        if (target.isEmpty()) {
            target.addAll(source);
            return;
        }
        int overlap = 0;
        int maxOverlap = Math.min(target.size(), source.size());
        for (int size = maxOverlap; size >= 1; size--) {
            boolean matched = true;
            for (int i = 0; i < size; i++) {
                Integer left = target.get(target.size() - size + i);
                Integer right = source.get(i);
                if (left == null || !left.equals(right)) {
                    matched = false;
                    break;
                }
            }
            if (matched) {
                overlap = size;
                break;
            }
        }
        for (int i = overlap; i < source.size(); i++) {
            Integer stationId = source.get(i);
            if (stationId != null) {
                target.add(stationId);
            }
        }
    }

    private List<Integer> copyIntegerSubList(List<Integer> source, int fromIndex, int toIndex) {
        if (source == null || source.isEmpty()) {
            return new ArrayList<>();
        }
        int from = Math.max(0, fromIndex);
        int to = Math.min(source.size(), Math.max(from, toIndex));
        List<Integer> result = new ArrayList<>();
        for (int i = from; i < to; i++) {
            Integer value = source.get(i);
            if (value != null) {
                result.add(value);
            }
        }
        return result;
    }

    private List<Integer> distinctPositiveStationIds(List<Integer> stationIdList) {
        if (stationIdList == null || stationIdList.isEmpty()) {
            return Collections.emptyList();
        }
        List<Integer> result = new ArrayList<>();
        Set<Integer> seen = new HashSet<>();
        for (Integer stationId : stationIdList) {
            if (stationId == null || stationId <= 0) {
                continue;
            }
            if (seen.add(stationId)) {
                result.add(stationId);
            }
        }
        return result;
    }

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

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

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

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

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

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

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

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

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

    private int compareDouble(double left, double right, int thenLeft1, int thenRight1, int thenLeft2, int thenRight2) {
        int result = Double.compare(left, right);
        if (result != 0) {
@@ -656,7 +1767,11 @@
        private int pathLen;
        private int turnCount;
        private int liftTransferCount;
        private int busyStationCount;
        private int passOtherOutStationCount;
        private double congestionScore;
        private double queueDepthScore;
        private double estimatedWaitSeconds;
        private double deadlockRiskScore;
        private int runBlockCount;
        private int softDeviationCount;
        private double loopPenalty;
@@ -664,162 +1779,98 @@
        private double dynamicCost;
    }

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

        Map<Integer, StationProtocol> statusMap = new HashMap<>();
        try {
            DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
            if (deviceConfigService != null) {
                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> m = stationThread.getStatusMap();
                    if (m != null && !m.isEmpty()) {
                        statusMap.putAll(m);
                    }
                }
        @Override
        public boolean equals(Object obj) {
            if (this == obj) {
                return true;
            }
        } catch (Exception ignore) {}

        Set<Integer> outStationIdSet = loadAllOutStationIdSet();

        double lenWeightPercent = 50.0;
        double congWeightPercent = 50.0;
        double passOtherOutStationWeightPercent = 100.0;
        boolean forceSkipPassOtherOutStation = false;
        try {
            ConfigService configService = SpringUtils.getBean(ConfigService.class);
            if (configService != null) {
                lenWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_LEN_WEIGHT_PERCENT, lenWeightPercent);
                congWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_CONG_WEIGHT_PERCENT, congWeightPercent);
                passOtherOutStationWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT, passOtherOutStationWeightPercent);
                forceSkipPassOtherOutStation = loadBooleanConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP, false);
            if (!(obj instanceof LoopMergeEntry)) {
                return false;
            }
        } catch (Exception ignore) {}

        List<List<NavigateNode>> candidates = new ArrayList<>();
        List<Integer> lens = new ArrayList<>();
        List<Integer> tasksList = new ArrayList<>();
        List<Double> congs = new ArrayList<>();
        List<Integer> passOtherOutStationCounts = new ArrayList<>();
        int skippedByPassOtherOutStation = 0;

        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++;
                }
            }
            double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
            int passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
            if (forceSkipPassOtherOutStation && passOtherOutStationCount > 0) {
                skippedByPassOtherOutStation++;
                News.info("[WCS Debug] 站点路径候选已跳过，因经过其他出库站点,startStationId={},endStationId={},passOtherOutStationCount={}",
                        extractStationId(path.get(0)),
                        extractStationId(path.get(path.size() - 1)),
                        passOtherOutStationCount);
                continue;
            }
            candidates.add(path);
            lens.add(len);
            tasksList.add(tasks);
            congs.add(cong);
            passOtherOutStationCounts.add(passOtherOutStationCount);
            LoopMergeEntry other = (LoopMergeEntry) obj;
            return (fromStationId == null ? other.fromStationId == null : fromStationId.equals(other.fromStationId))
                    && (toStationId == null ? other.toStationId == null : toStationId.equals(other.toStationId));
        }

        if (candidates.isEmpty()) {
            if (forceSkipPassOtherOutStation && skippedByPassOtherOutStation > 0) {
                News.info("[WCS Debug] 所有站点路径候选均因经过其他出库站点被强制跳过");
                return new ArrayList<>();
            }
            return allList.get(0);
        @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;
        }

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

        double weightSum = lenWeightPercent + congWeightPercent + passOtherOutStationWeightPercent;
        double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
        double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
        double passOtherOutStationW = weightSum <= 0 ? 0.0 : passOtherOutStationWeightPercent / weightSum;

        List<NavigateNode> best = null;
        double bestCost = Double.MAX_VALUE;
        int bestPassOtherOutStationCount = Integer.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);
            int p = passOtherOutStationCounts.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);
            double passOtherOutStationNorm = (maxPassOtherOutStationCount - minPassOtherOutStationCount) <= 0
                    ? 0.0
                    : (p - minPassOtherOutStationCount) / (double) (maxPassOtherOutStationCount - minPassOtherOutStationCount);
            //获取权重
            double cost = lenNorm * lenW + congNorm * congW + passOtherOutStationNorm * passOtherOutStationW;
            if (cost < bestCost
                    || (cost == bestCost && p < bestPassOtherOutStationCount)
                    || (cost == bestCost && p == bestPassOtherOutStationCount && t < bestTasks)
                    || (cost == bestCost && p == bestPassOtherOutStationCount && t == bestTasks && l < bestLen)) {
                best = candidates.get(i);
                bestCost = cost;
                bestPassOtherOutStationCount = p;
                bestTasks = t;
                bestLen = l;
            }
        }

        if (best == null) {
            return allList.get(0);
        }
        return best;
        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() {
@@ -879,43 +1930,6 @@
            return value.getInteger("stationId");
        } catch (Exception ignore) {}
        return null;
    }

    private double loadDoubleConfig(ConfigService configService, String code, double defaultValue) {
        if (configService == null || code == null) {
            return defaultValue;
        }
        Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
        if (config == null || config.getValue() == null) {
            return defaultValue;
        }
        String value = config.getValue().trim();
        if (value.endsWith("%")) {
            value = value.substring(0, value.length() - 1);
        }
        try {
            return Double.parseDouble(value);
        } catch (Exception ignore) {}
        return defaultValue;
    }

    private boolean loadBooleanConfig(ConfigService configService, String code, boolean defaultValue) {
        if (configService == null || code == null) {
            return defaultValue;
        }
        Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
        if (config == null || config.getValue() == null) {
            return defaultValue;
        }
        String value = config.getValue().trim();
        if (value.isEmpty()) {
            return defaultValue;
        }
        return "1".equals(value)
                || "true".equalsIgnoreCase(value)
                || "yes".equalsIgnoreCase(value)
                || "y".equalsIgnoreCase(value)
                || "on".equalsIgnoreCase(value);
    }

    //判断当前节点到下一个节点是否为拐点