#

Junjie

15 小时以前 eb7936b4b850ce1093b3d4ebac797230a59ca373

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

@@ -11,6 +11,7 @@
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.StationTaskTraceVo;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.BasDevp;
@@ -36,9 +37,20 @@
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
import com.zy.core.trace.StationTaskTraceRegistry;

@Component
public class NavigateUtils {

    private static final double CONGESTION_BUSY_BASE = 1.0d;
    private static final double CONGESTION_ISSUED_RESERVE_BASE = 0.75d;
    private static final double CONGESTION_PENDING_QUEUE_BASE = 0.45d;
    private static final double CONGESTION_RUN_BLOCK_BASE = 1.5d;
    private static final double WAIT_BUSY_SECONDS = 10.0d;
    private static final double WAIT_ISSUED_RESERVE_SECONDS = 8.0d;
    private static final double WAIT_PENDING_QUEUE_SECONDS = 5.0d;
    private static final double WAIT_RUN_BLOCK_SECONDS = 30.0d;
    private static final int DEADLOCK_PREFIX_LOOKAHEAD = 6;

    @Autowired
    private BasStationService basStationService;
@@ -46,8 +58,14 @@
    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");
@@ -101,7 +119,7 @@

        startTime = System.currentTimeMillis();
        News.info("[WCS Debug] 站点路径权重开始分析,startStationId={},endStationId={}", startStationId, endStationId);
        List<NavigateNode> list = findStationBestPathTwoStage(allList, resolvedPolicy);
        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
@@ -259,7 +277,9 @@
        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<>();
        }
@@ -297,6 +317,7 @@

        Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
        Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
        StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
        Set<Integer> outStationIdSet = loadAllOutStationIdSet();
        List<PathCandidateMetrics> metricsList = new ArrayList<>();
        int skippedByOtherOutStation = 0;
@@ -304,7 +325,7 @@
            if (path == null || path.isEmpty()) {
                continue;
            }
            PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
            PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
            if (globalPolicy.forceSkipPassOtherOutStation && metrics.passOtherOutStationCount > 0) {
                skippedByOtherOutStation++;
                continue;
@@ -563,6 +584,7 @@
    private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
                                                       Map<Integer, StationProtocol> statusMap,
                                                       Map<Integer, Double> stationLoopLoadMap,
                                                       StationTrafficSnapshot trafficSnapshot,
                                                       StationPathProfileConfig profileConfig,
                                                       StationPathRuleConfig ruleConfig,
                                                       PathGlobalPolicy globalPolicy,
@@ -574,7 +596,10 @@
        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);
@@ -598,7 +623,10 @@
                        + softDeviationWeight * metrics.softDeviationCount;

        metrics.dynamicCost =
                safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * 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;
@@ -643,15 +671,67 @@
        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) {
@@ -846,6 +926,231 @@
        return stationLoopLoadMap;
    }

    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)) {
            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 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();
        }

        List<StationTaskTraceVo> result = new ArrayList<>();
        for (StationTaskTraceVo traceVo : traceList) {
            if (!isPlanningActiveTrace(traceVo)) {
                continue;
            }
            if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
                continue;
            }
            result.add(traceVo);
        }
        return result;
    }

    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 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) {
@@ -880,7 +1185,10 @@
        private int turnCount;
        private int liftTransferCount;
        private int passOtherOutStationCount;
        private int busyStationCount;
        private double congestionScore;
        private double queueDepthScore;
        private double estimatedWaitSeconds;
        private double deadlockRiskScore;
        private int runBlockCount;
        private int softDeviationCount;
        private double loopPenalty;
@@ -888,6 +1196,25 @@
        private double dynamicCost;
    }

    private static class StationTrafficSnapshot {
        private final Map<Integer, Double> congestionScoreMap = new HashMap<>();
        private final Map<Integer, Integer> queueDepthMap = new HashMap<>();
        private final Map<Integer, Double> estimatedWaitSecondsMap = new HashMap<>();
        private final List<TraceRouteSnapshot> traceRouteList = new ArrayList<>();
    }

    private static class TraceRouteSnapshot {
        private Integer taskNo;
        private Integer currentStationId;
        private List<Integer> pendingStationIds = Collections.emptyList();
        private List<Integer> issuedStationIds = Collections.emptyList();
    }

    private static class OverlapMetrics {
        private int sharedCount;
        private double sequentialRisk;
    }

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