#

Junjie

14 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;
@@ -11,17 +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;

@@ -39,6 +45,9 @@
import com.zy.core.thread.StationThread;
import com.zy.core.trace.StationTaskTraceRegistry;

import java.util.Date;
import java.util.LinkedHashMap;

@Component
public class NavigateUtils {

@@ -54,6 +63,8 @@

    @Autowired
    private BasStationService basStationService;
    @Autowired
    private BasStationOptService basStationOptService;
    @Autowired
    private StationPathPolicyService stationPathPolicyService;
    @Autowired
@@ -318,11 +329,18 @@
        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
        StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
        LoopMergeGuardContext loopMergeGuardContext = loadLoopMergeGuardContext();
        Set<LoopMergeEntry> mandatoryLoopMergeEntrySet = resolveMandatoryLoopMergeEntrySet(filteredCandidates, loopMergeGuardContext);
        Set<Integer> outStationIdSet = loadAllOutStationIdSet();
        List<PathCandidateMetrics> metricsList = new ArrayList<>();
        int skippedByOtherOutStation = 0;
        int skippedByLoopMergeGuard = 0;
        for (List<NavigateNode> path : filteredCandidates) {
            if (path == null || path.isEmpty()) {
                continue;
            }
            if (!isLoopMergePathAllowed(path, statusMap, trafficSnapshot, loopMergeGuardContext, mandatoryLoopMergeEntrySet)) {
                skippedByLoopMergeGuard++;
                continue;
            }
            PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
@@ -335,6 +353,10 @@
        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());
            }
@@ -926,6 +948,158 @@
        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<>();
@@ -945,7 +1119,7 @@
            }
        }

        for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo)) {
        for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo, statusMap)) {
            if (traceVo == null) {
                continue;
            }
@@ -1017,31 +1191,171 @@
        return snapshot;
    }

    private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo) {
        if (stationTaskTraceRegistry == null) {
            return Collections.emptyList();
        }
        List<StationTaskTraceVo> traceList;
        try {
            traceList = stationTaskTraceRegistry.listLatestTraces();
        } catch (Exception ignore) {
            return Collections.emptyList();
        }
        if (traceList == null || traceList.isEmpty()) {
            return Collections.emptyList();
    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<StationTaskTraceVo> result = new ArrayList<>();
        for (StationTaskTraceVo traceVo : traceList) {
            if (!isPlanningActiveTrace(traceVo)) {
                continue;
            }
            if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
                continue;
            }
            result.add(traceVo);
        List<Integer> stationIdList = extractStationIdList(path);
        if (stationIdList.size() < 2) {
            return true;
        }
        return result;

        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) {
@@ -1052,6 +1366,275 @@
        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) {
@@ -1215,6 +1798,52 @@
        private double sequentialRisk;
    }

    private static class FallbackMoveCommand {
        private Integer taskNo;
        private Integer traceVersion;
        private Integer segmentNo;
        private Integer segmentCount;
        private Integer stationId;
        private Integer targetStaNo;
        private List<Integer> navigatePath = Collections.emptyList();
        private Date sendTime;
    }

    private static class LoopMergeGuardContext {
        private final Set<Integer> loopStationIdSet = new HashSet<>();
        private final Map<Integer, Set<Integer>> loopNeighborMap = new HashMap<>();
    }

    private static class LoopMergeEntry {
        private final Integer fromStationId;
        private final Integer toStationId;

        private LoopMergeEntry(Integer fromStationId, Integer toStationId) {
            this.fromStationId = fromStationId;
            this.toStationId = toStationId;
        }

        @Override
        public boolean equals(Object obj) {
            if (this == obj) {
                return true;
            }
            if (!(obj instanceof LoopMergeEntry)) {
                return false;
            }
            LoopMergeEntry other = (LoopMergeEntry) obj;
            return (fromStationId == null ? other.fromStationId == null : fromStationId.equals(other.fromStationId))
                    && (toStationId == null ? other.toStationId == null : toStationId.equals(other.toStationId));
        }

        @Override
        public int hashCode() {
            int result = fromStationId == null ? 0 : fromStationId.hashCode();
            result = 31 * result + (toStationId == null ? 0 : toStationId.hashCode());
            return result;
        }
    }

    private static class PathGlobalPolicy {
        private double lenWeightFactor = 1.0d;
        private double congWeightFactor = 1.0d;