From 3372040097ad2c01aeb6fd6485e89f19bf81b316 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 18 三月 2026 17:02:34 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 888 +++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 768 insertions(+), 120 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 7260751..0ec6e2c 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -6,16 +6,27 @@
import java.util.HashSet;
import java.util.List;
import java.util.Map;
+import java.util.Set;
+import com.zy.asrs.domain.path.StationPathProfileConfig;
+import com.zy.asrs.domain.path.StationPathResolvedPolicy;
+import com.zy.asrs.domain.path.StationPathRuleConfig;
+import com.zy.asrs.domain.vo.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.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 org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.common.model.NavigateNode;
@@ -25,17 +36,19 @@
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;
@Component
public class NavigateUtils {
@Autowired
private BasStationService basStationService;
+ @Autowired
+ private StationPathPolicyService stationPathPolicyService;
+ @Autowired
+ private StationCycleCapacityService stationCycleCapacityService;
public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
- BasStation startStation = basStationService.selectById(startStationId);
+ BasStation startStation = basStationService.getById(startStationId);
if (startStation == null) {
throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勭珯鐐规暟鎹�");
}
@@ -45,37 +58,61 @@
List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
- if (startNode == null){
+ if (startNode == null) {
throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勮妭鐐�");
}
NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
- if (endNode == null){
+ if (endNode == null) {
throw new CoolException("鏈壘鍒拌 缁堢偣 瀵瑰簲鐨勮妭鐐�");
}
+ StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
+ StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
+ ? StationPathProfileConfig.defaultConfig()
+ : resolvedPolicy.getProfileConfig();
+
long startTime = System.currentTimeMillis();
News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={}", startStationId, endStationId);
- List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
+ int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
+ int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
+ int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
+ List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
+ List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
+ stationMap,
+ startNode,
+ endNode,
+ calcMaxDepth,
+ calcMaxPaths,
+ calcMaxCost,
+ guideStationSequence
+ );
if (allList.isEmpty()) {
- throw new CoolException("鏈壘鍒拌璺緞");
+// throw new CoolException("鏈壘鍒拌璺緞");
+ return new ArrayList<>();
+ }
+ Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
+ allList = filterNonAutoStationPaths(allList, statusMap);
+ if (allList.isEmpty()) {
+ News.info("[WCS Debug] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽瓨鍦ㄩ潪鑷姩绔欑偣,startStationId={},endStationId={}", startStationId, endStationId);
+ return new ArrayList<>();
}
News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
startTime = System.currentTimeMillis();
News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸寮�濮嬪垎鏋�,startStationId={},endStationId={}", startStationId, endStationId);
- List<NavigateNode> list = findStationBestPath(allList);
+ List<NavigateNode> list = findStationBestPathTwoStage(allList, resolvedPolicy);
News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸鍒嗘瀽瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
//鍘婚噸
HashSet<Integer> set = new HashSet<>();
List<NavigateNode> fitlerList = new ArrayList<>();
- for(NavigateNode navigateNode : list){
+ for (NavigateNode navigateNode : list) {
JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
if (valuObject.containsKey("rgvCalcFlag")) {
continue;
}
- if(set.add(valuObject.getInteger("stationId"))){
+ if (set.add(valuObject.getInteger("stationId"))) {
fitlerList.add(navigateNode);
}
}
@@ -83,6 +120,20 @@
for (int i = 0; i < fitlerList.size(); i++) {
NavigateNode currentNode = fitlerList.get(i);
currentNode.setIsInflectionPoint(false);
+ currentNode.setIsLiftTransferPoint(false);
+
+ try {
+ JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
+ if (valueObject != null) {
+ Object isLiftTransfer = valueObject.get("isLiftTransfer");
+ if (isLiftTransfer != null) {
+ String isLiftTransferStr = isLiftTransfer.toString();
+ if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
+ currentNode.setIsLiftTransferPoint(true);
+ }
+ }
+ }
+ } catch (Exception ignore) {}
NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
@@ -115,7 +166,8 @@
News.info("[WCS Debug] RGV璺緞寮�濮嬭绠�,startTrackSiteNo:{},endTrackSiteNo={}", startTrackSiteNo, endTrackSiteNo);
NavigateNode res_node = navigateSolution.astarSearchJava(rgvTrackMap, startNode, endNode);
if (res_node == null) {
- throw new CoolException("鏈壘鍒拌璺緞");
+// throw new CoolException("鏈壘鍒拌璺緞");
+ return new ArrayList<>();
}
News.info("[WCS Debug] RGV璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
@@ -193,139 +245,735 @@
return liftStationList;
}
- public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
+ private StationPathResolvedPolicy resolveStationPathPolicy(Integer startStationId, Integer endStationId) {
+ try {
+ if (stationPathPolicyService != null) {
+ StationPathResolvedPolicy resolved = stationPathPolicyService.resolvePolicy(startStationId, endStationId);
+ if (resolved != null) {
+ return resolved;
+ }
+ }
+ } catch (Exception e) {
+ News.warn("绔欑偣璺緞绛栫暐鍔犺浇澶辫触锛屽洖閫�榛樿 twoStage: {}", e.getMessage());
+ }
+ return new StationPathResolvedPolicy();
+ }
+
+ private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList, StationPathResolvedPolicy resolvedPolicy) {
if (allList == null || allList.isEmpty()) {
return new ArrayList<>();
}
- Map<Integer, StationProtocol> statusMap = new HashMap<>();
- try {
- DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
- if (deviceConfigService != null) {
- List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
- .eq("device_type", String.valueOf(SlaveType.Devp)));
- for (DeviceConfig deviceConfig : devpList) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
- if (stationThread == null) {
- continue;
- }
- Map<Integer, StationProtocol> m = stationThread.getStatusMap();
- if (m != null && !m.isEmpty()) {
- statusMap.putAll(m);
- }
- }
+ StationPathRuleConfig ruleConfig = resolvedPolicy.getRuleConfig() == null
+ ? new StationPathRuleConfig()
+ : resolvedPolicy.getRuleConfig();
+ 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] 绔欑偣璺緞瑙勫垯宸查檷绾э紝蹇界暐鍏抽敭閫旂粡鐐圭害鏉熷悗閲嶈瘯");
+ }
+ List<List<NavigateNode>> softFilteredCandidates = applySoftPreferenceFilter(filteredCandidates, ruleConfig);
+ if (!softFilteredCandidates.isEmpty()) {
+ filteredCandidates = softFilteredCandidates;
+ } else if (hasSoftPreference(ruleConfig) && !allowSoftDegrade(ruleConfig)) {
+ News.warn("[WCS Debug] 绔欑偣璺緞杞亸濂藉懡涓絾鏃犲彲琛岃矾寰勶紝涓斾笉鍏佽闄嶇骇");
+ return new ArrayList<>();
+ } else if (hasSoftPreference(ruleConfig)) {
+ News.info("[WCS Debug] 绔欑偣璺緞瑙勫垯宸查檷绾э紝蹇界暐杞亸濂界害鏉熷悗閲嶈瘯");
+ }
+ if (filteredCandidates.isEmpty()) {
+ if (resolvedPolicy.matchedRule()) {
+ News.warn("绔欑偣璺緞瑙勫垯鍛戒腑浣嗘棤鍙璺緞锛宺uleCode={}",
+ resolvedPolicy.getRuleEntity() == null ? "" : resolvedPolicy.getRuleEntity().getRuleCode());
+ return new ArrayList<>();
}
- } catch (Exception ignore) {}
+ filteredCandidates = allList;
+ }
- List<List<NavigateNode>> candidates = new ArrayList<>();
- List<Integer> lens = new ArrayList<>();
- List<Integer> tasksList = new ArrayList<>();
- List<Double> congs = new ArrayList<>();
+ Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
+ Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
+ Set<Integer> outStationIdSet = loadAllOutStationIdSet();
+ List<PathCandidateMetrics> metricsList = new ArrayList<>();
+ int skippedByOtherOutStation = 0;
+ for (List<NavigateNode> path : filteredCandidates) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, 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] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽洜缁忚繃鍏朵粬鍑哄簱绔欑偣,startStationId={},endStationId={}",
+ resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
+ resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
+ }
+ return new ArrayList<>();
+ }
+ metricsList.sort((a, b) -> compareDouble(a.staticCost, b.staticCost, a.turnCount, b.turnCount, a.pathLen, b.pathLen));
+ PathCandidateMetrics preferred = metricsList.get(0);
+ int maxLen = (int) Math.ceil(preferred.pathLen * safeDouble(profileConfig.getS1MaxLenRatio(), 1.15d));
+ int maxTurns = preferred.turnCount + safeInt(profileConfig.getS1MaxTurnDiff(), 1);
+
+ List<PathCandidateMetrics> stage1Selected = new ArrayList<>();
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (metrics.pathLen <= maxLen && metrics.turnCount <= maxTurns) {
+ stage1Selected.add(metrics);
+ }
+ }
+ if (stage1Selected.isEmpty()) {
+ stage1Selected.addAll(metricsList);
+ }
+
+ int topK = safeInt(profileConfig.getS1TopK(), 5);
+ if (topK > 0 && stage1Selected.size() > topK) {
+ stage1Selected = new ArrayList<>(stage1Selected.subList(0, topK));
+ }
+
+ stage1Selected.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+ return stage1Selected.get(0).path;
+ }
+
+ private List<List<NavigateNode>> applyRuleFilters(List<List<NavigateNode>> allList,
+ StationPathRuleConfig ruleConfig,
+ boolean includeWaypoint) {
+ if (allList == null || allList.isEmpty()) {
+ return new ArrayList<>();
+ }
+ if (ruleConfig == null) {
+ return allList;
+ }
+
+ List<List<NavigateNode>> result = new ArrayList<>();
for (List<NavigateNode> path : allList) {
if (path == null || path.isEmpty()) {
continue;
}
- int len = path.size();
- int tasks = 0;
- HashSet<Integer> stationIdSet = new HashSet<>();
- for (NavigateNode node : path) {
- JSONObject value = null;
- try {
- value = JSON.parseObject(node.getNodeValue());
- } catch (Exception ignore) {}
- if (value == null) {
- continue;
- }
- Integer stationId = value.getInteger("stationId");
- if (stationId == null) {
- continue;
- }
- if (!stationIdSet.add(stationId)) {
- continue;
- }
- StationProtocol protocol = statusMap.get(stationId);
- if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
- tasks++;
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (!matchHardConstraint(stationIdList, ruleConfig.getHard())) {
+ continue;
+ }
+ if (includeWaypoint && !matchWaypointConstraint(stationIdList, ruleConfig.getWaypoint())) {
+ continue;
+ }
+ result.add(path);
+ }
+ return result;
+ }
+
+ private List<List<NavigateNode>> applySoftPreferenceFilter(List<List<NavigateNode>> allList,
+ StationPathRuleConfig ruleConfig) {
+ if (allList == null || allList.isEmpty() || ruleConfig == null) {
+ return new ArrayList<>();
+ }
+ StationPathRuleConfig.SoftPreference soft = ruleConfig.getSoft();
+ List<Integer> preferredPath = getSoftReferencePath(soft);
+ if (preferredPath.isEmpty()) {
+ return allList;
+ }
+
+ List<List<NavigateNode>> result = new ArrayList<>();
+ for (List<NavigateNode> path : allList) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (!matchSoftConstraint(stationIdList, soft)) {
+ continue;
+ }
+ result.add(path);
+ }
+ return result;
+ }
+
+ private boolean matchHardConstraint(List<Integer> stationIdList, StationPathRuleConfig.HardConstraint hard) {
+ if (stationIdList == null) {
+ return false;
+ }
+ if (hard == null) {
+ return true;
+ }
+ Set<Integer> stationIdSet = new HashSet<>(stationIdList);
+ for (Integer stationId : safeList(hard.getMustPassStations())) {
+ if (stationId != null && !stationIdSet.contains(stationId)) {
+ return false;
+ }
+ }
+ for (Integer stationId : safeList(hard.getForbidStations())) {
+ if (stationId != null && stationIdSet.contains(stationId)) {
+ return false;
+ }
+ }
+ for (String edge : safeList(hard.getMustPassEdges())) {
+ if (notBlank(edge) && !containsEdge(stationIdList, edge)) {
+ return false;
+ }
+ }
+ for (String edge : safeList(hard.getForbidEdges())) {
+ if (notBlank(edge) && containsEdge(stationIdList, edge)) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ private boolean matchWaypointConstraint(List<Integer> stationIdList, StationPathRuleConfig.WaypointConstraint waypoint) {
+ if (waypoint == null || waypoint.getStations() == null || waypoint.getStations().isEmpty()) {
+ return true;
+ }
+ int cursor = 0;
+ for (Integer stationId : stationIdList) {
+ Integer expected = waypoint.getStations().get(cursor);
+ if (expected != null && expected.equals(stationId)) {
+ cursor++;
+ if (cursor >= waypoint.getStations().size()) {
+ return true;
}
}
- double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
- candidates.add(path);
- lens.add(len);
- tasksList.add(tasks);
- congs.add(cong);
+ }
+ return false;
+ }
+
+ private boolean matchSoftConstraint(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
+ List<Integer> preferredPath = getSoftReferencePath(soft);
+ if (preferredPath.isEmpty()) {
+ return true;
+ }
+ if (!containsOrderedStations(stationIdList, preferredPath)) {
+ return false;
+ }
+ Integer maxOffPathCount = soft == null ? null : soft.getMaxOffPathCount();
+ if (maxOffPathCount == null || maxOffPathCount < 0) {
+ return true;
+ }
+ if (!isFullSoftPreferredPath(stationIdList, preferredPath)) {
+ return true;
+ }
+ return countOffPathStations(stationIdList, preferredPath) <= maxOffPathCount;
+ }
+
+ private boolean hasWaypoint(StationPathRuleConfig ruleConfig) {
+ return ruleConfig != null
+ && ruleConfig.getWaypoint() != null
+ && ruleConfig.getWaypoint().getStations() != null
+ && !ruleConfig.getWaypoint().getStations().isEmpty();
+ }
+
+ private boolean hasSoftPreference(StationPathRuleConfig ruleConfig) {
+ return !getSoftReferencePath(ruleConfig == null ? null : ruleConfig.getSoft()).isEmpty();
+ }
+
+ private boolean strictWaypoint(StationPathRuleConfig ruleConfig) {
+ return ruleConfig != null
+ && ruleConfig.getFallback() != null
+ && Boolean.TRUE.equals(ruleConfig.getFallback().getStrictWaypoint());
+ }
+
+ private boolean allowSoftDegrade(StationPathRuleConfig ruleConfig) {
+ return ruleConfig == null
+ || ruleConfig.getFallback() == null
+ || !Boolean.FALSE.equals(ruleConfig.getFallback().getAllowSoftDegrade());
+ }
+
+ private List<Integer> buildGuideStationSequence(Integer startStationId,
+ Integer endStationId,
+ StationPathRuleConfig ruleConfig) {
+ if (startStationId == null || endStationId == null || ruleConfig == null) {
+ return Collections.emptyList();
}
- if (candidates.isEmpty()) {
- return allList.get(0);
- }
+ List<Integer> sequence = new ArrayList<>();
+ appendGuideStation(sequence, startStationId);
- int minLen = Integer.MAX_VALUE;
- int maxLen = Integer.MIN_VALUE;
- double minCong = Double.MAX_VALUE;
- double maxCong = -Double.MAX_VALUE;
- for (int i = 0; i < candidates.size(); i++) {
- int l = lens.get(i);
- double c = congs.get(i);
- if (l < minLen) minLen = l;
- if (l > maxLen) maxLen = l;
- if (c < minCong) minCong = c;
- if (c > maxCong) maxCong = c;
- }
-
- //闀垮害鏉冮噸鐧惧垎姣�
- double lenWeightPercent = 50.0;
- //鎷ュ牭鏉冮噸鐧惧垎姣�
- double congWeightPercent = 50.0;
- try {
- ConfigService configService = SpringUtils.getBean(ConfigService.class);
- if (configService != null) {
- Config cfgLen = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathLenWeightPercent"));
- if (cfgLen != null && cfgLen.getValue() != null) {
- String v = cfgLen.getValue().trim();
- if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
- try { lenWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
+ List<Integer> preferredPath = safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
+ if (!preferredPath.isEmpty()) {
+ if (startStationId.equals(preferredPath.get(0))) {
+ for (int i = 1; i < preferredPath.size(); i++) {
+ appendGuideStation(sequence, preferredPath.get(i));
}
- Config cfgCong = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathCongWeightPercent"));
- if (cfgCong != null && cfgCong.getValue() != null) {
- String v = cfgCong.getValue().trim();
- if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
- try { congWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
+ if (sequence.get(sequence.size() - 1).equals(endStationId)) {
+ return sequence;
+ }
+ }
+ sequence.clear();
+ appendGuideStation(sequence, startStationId);
+ }
+
+ for (Integer stationId : safeList(ruleConfig.getWaypoint() == null ? null : ruleConfig.getWaypoint().getStations())) {
+ appendGuideStation(sequence, stationId);
+ }
+ for (Integer stationId : safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getKeyStations())) {
+ appendGuideStation(sequence, stationId);
+ }
+ appendGuideStation(sequence, endStationId);
+ return sequence.size() <= 2 ? Collections.emptyList() : sequence;
+ }
+
+ private void appendGuideStation(List<Integer> sequence, Integer stationId) {
+ if (sequence == null || stationId == null) {
+ return;
+ }
+ if (!sequence.isEmpty() && stationId.equals(sequence.get(sequence.size() - 1))) {
+ return;
+ }
+ sequence.add(stationId);
+ }
+
+ private boolean containsEdge(List<Integer> stationIdList, String edgeText) {
+ int[] edge = parseEdge(edgeText);
+ if (edge == null) {
+ return false;
+ }
+ for (int i = 0; i < stationIdList.size() - 1; i++) {
+ Integer current = stationIdList.get(i);
+ Integer next = stationIdList.get(i + 1);
+ if (current != null && next != null && current == edge[0] && next == edge[1]) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private int[] parseEdge(String edgeText) {
+ if (!notBlank(edgeText)) {
+ return null;
+ }
+ String normalized = edgeText.replace(" ", "");
+ String[] parts = normalized.split("->");
+ if (parts.length != 2) {
+ return null;
+ }
+ try {
+ return new int[]{Integer.parseInt(parts[0]), Integer.parseInt(parts[1])};
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
+ Map<Integer, StationProtocol> statusMap,
+ Map<Integer, Double> stationLoopLoadMap,
+ StationPathProfileConfig profileConfig,
+ StationPathRuleConfig ruleConfig,
+ PathGlobalPolicy globalPolicy,
+ Set<Integer> outStationIdSet) {
+ PathCandidateMetrics metrics = new PathCandidateMetrics();
+ metrics.path = path;
+ metrics.pathLen = path.size();
+ metrics.turnCount = countTurnCount(path);
+ metrics.liftTransferCount = countLiftTransferCount(path);
+
+ List<Integer> stationIdList = extractStationIdList(path);
+ metrics.busyStationCount = countBusyStationCount(stationIdList, statusMap);
+ metrics.runBlockCount = countRunBlockCount(stationIdList, statusMap);
+ metrics.loopPenalty = calcLoopPenalty(stationIdList, stationLoopLoadMap);
+ metrics.passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
+ metrics.softDeviationCount = calcSoftDeviationCount(stationIdList,
+ ruleConfig == null ? null : ruleConfig.getSoft());
+
+ double softDeviationWeight = safeDouble(profileConfig.getS1SoftDeviationWeight(), 4.0d);
+ if (ruleConfig != null && ruleConfig.getSoft() != null && ruleConfig.getSoft().getDeviationWeight() != null) {
+ softDeviationWeight = ruleConfig.getSoft().getDeviationWeight();
+ }
+
+ double lenWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.lenWeightFactor;
+ double congWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.congWeightFactor;
+ double passOtherOutStationPenaltyWeight = globalPolicy == null ? 0.0d : globalPolicy.passOtherOutStationPenaltyWeight;
+
+ metrics.staticCost =
+ safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor * metrics.pathLen
+ + safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
+ + safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
+ + passOtherOutStationPenaltyWeight * metrics.passOtherOutStationCount
+ + softDeviationWeight * metrics.softDeviationCount;
+
+ metrics.dynamicCost =
+ safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.busyStationCount
+ + safeDouble(profileConfig.getS2RunBlockWeight(), 10.0d) * metrics.runBlockCount
+ + safeDouble(profileConfig.getS2LoopLoadWeight(), 12.0d) * metrics.loopPenalty;
+ return metrics;
+ }
+
+ private int countTurnCount(List<NavigateNode> path) {
+ if (path == null || path.size() < 3) {
+ return 0;
+ }
+ int count = 0;
+ for (int i = 1; i < path.size() - 1; i++) {
+ NavigateNode prev = path.get(i - 1);
+ NavigateNode next = path.get(i + 1);
+ if (prev == null || next == null) {
+ continue;
+ }
+ if (prev.getX() != next.getX() && prev.getY() != next.getY()) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private int countLiftTransferCount(List<NavigateNode> path) {
+ int count = 0;
+ for (NavigateNode node : safeList(path)) {
+ try {
+ JSONObject valueObject = JSON.parseObject(node.getNodeValue());
+ if (valueObject == null) {
+ continue;
+ }
+ Object isLiftTransfer = valueObject.get("isLiftTransfer");
+ if (isLiftTransfer != null) {
+ String text = String.valueOf(isLiftTransfer);
+ if ("1".equals(text) || "true".equalsIgnoreCase(text)) {
+ count++;
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ }
+ return count;
+ }
+
+ private int countBusyStationCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
+ int count = 0;
+ for (Integer stationId : stationIdList) {
+ StationProtocol protocol = statusMap.get(stationId);
+ if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
+ int count = 0;
+ for (Integer stationId : stationIdList) {
+ StationProtocol protocol = statusMap.get(stationId);
+ if (protocol != null && protocol.isRunBlock()) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private double calcLoopPenalty(List<Integer> stationIdList, Map<Integer, Double> stationLoopLoadMap) {
+ double maxLoad = 0.0d;
+ for (Integer stationId : stationIdList) {
+ Double load = stationLoopLoadMap.get(stationId);
+ if (load != null && load > maxLoad) {
+ maxLoad = load;
+ }
+ }
+ return maxLoad;
+ }
+
+ private int calcSoftDeviationCount(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
+ List<Integer> preferredPath = getSoftReferencePath(soft);
+ if (preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
+ return 0;
+ }
+ int missingCount = countMissingOrderedStations(stationIdList, preferredPath);
+ if (missingCount > 0) {
+ return missingCount;
+ }
+ if (isFullSoftPreferredPath(stationIdList, preferredPath)) {
+ return countOffPathStations(stationIdList, preferredPath);
+ }
+ return 0;
+ }
+
+ private List<Integer> extractStationIdList(List<NavigateNode> path) {
+ List<Integer> stationIdList = new ArrayList<>();
+ Set<Integer> seen = new HashSet<>();
+ for (NavigateNode node : safeList(path)) {
+ Integer stationId = extractStationId(node);
+ if (stationId == null) {
+ continue;
+ }
+ if (seen.add(stationId)) {
+ stationIdList.add(stationId);
+ }
+ }
+ return stationIdList;
+ }
+
+ private List<Integer> getSoftReferencePath(StationPathRuleConfig.SoftPreference soft) {
+ if (soft == null) {
+ return Collections.emptyList();
+ }
+ if (soft.getPreferredPath() != null && !soft.getPreferredPath().isEmpty()) {
+ return soft.getPreferredPath();
+ }
+ if (soft.getKeyStations() != null && !soft.getKeyStations().isEmpty()) {
+ return soft.getKeyStations();
+ }
+ return Collections.emptyList();
+ }
+
+ private boolean containsOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
+ return countMissingOrderedStations(stationIdList, targetStations) == 0;
+ }
+
+ private int countMissingOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
+ if (stationIdList == null || stationIdList.isEmpty() || targetStations == null || targetStations.isEmpty()) {
+ return 0;
+ }
+ int cursor = 0;
+ for (Integer stationId : stationIdList) {
+ Integer expected = targetStations.get(cursor);
+ if (expected != null && expected.equals(stationId)) {
+ cursor++;
+ if (cursor >= targetStations.size()) {
+ return 0;
+ }
+ }
+ }
+ return targetStations.size() - cursor;
+ }
+
+ private boolean isFullSoftPreferredPath(List<Integer> stationIdList, List<Integer> preferredPath) {
+ if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.isEmpty()) {
+ return false;
+ }
+ Integer actualStart = stationIdList.get(0);
+ Integer actualEnd = stationIdList.get(stationIdList.size() - 1);
+ Integer preferredStart = preferredPath.get(0);
+ Integer preferredEnd = preferredPath.get(preferredPath.size() - 1);
+ return (actualStart == null ? preferredStart == null : actualStart.equals(preferredStart))
+ && (actualEnd == null ? preferredEnd == null : actualEnd.equals(preferredEnd));
+ }
+
+ private int countOffPathStations(List<Integer> stationIdList, List<Integer> preferredPath) {
+ if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.isEmpty()) {
+ return 0;
+ }
+ Set<Integer> preferredSet = new HashSet<>(preferredPath);
+ int count = 0;
+ for (int i = 1; i < stationIdList.size() - 1; i++) {
+ Integer stationId = stationIdList.get(i);
+ if (stationId != null && !preferredSet.contains(stationId)) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private List<List<NavigateNode>> filterNonAutoStationPaths(List<List<NavigateNode>> allList,
+ Map<Integer, StationProtocol> statusMap) {
+ if (allList == null || allList.isEmpty() || statusMap == null || statusMap.isEmpty()) {
+ return allList;
+ }
+
+ List<List<NavigateNode>> result = new ArrayList<>();
+ for (List<NavigateNode> path : allList) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ if (containsNonAutoStation(path, statusMap)) {
+ continue;
+ }
+ result.add(path);
+ }
+ return result;
+ }
+
+ private boolean containsNonAutoStation(List<NavigateNode> path, Map<Integer, StationProtocol> statusMap) {
+ for (Integer stationId : extractStationIdList(path)) {
+ StationProtocol protocol = statusMap.get(stationId);
+ if (protocol != null && !protocol.isAutoing()) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private Map<Integer, StationProtocol> loadStationStatusMap() {
+ Map<Integer, StationProtocol> statusMap = new HashMap<>();
+ try {
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
+ if (deviceConfigService == null) {
+ return statusMap;
+ }
+ List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Devp)));
+ for (DeviceConfig deviceConfig : devpList) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+ Map<Integer, StationProtocol> map = stationThread.getStatusMap();
+ if (map != null && !map.isEmpty()) {
+ statusMap.putAll(map);
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ return statusMap;
+ }
+
+ private Map<Integer, Double> loadStationLoopLoadMap() {
+ Map<Integer, Double> stationLoopLoadMap = new HashMap<>();
+ try {
+ if (stationCycleCapacityService == null) {
+ return stationLoopLoadMap;
+ }
+ StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
+ if (capacityVo == null || capacityVo.getLoopList() == null) {
+ return stationLoopLoadMap;
+ }
+ for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
+ if (loopVo == null || loopVo.getStationIdList() == null) {
+ continue;
+ }
+ double currentLoad = loopVo.getCurrentLoad() == null ? 0.0d : loopVo.getCurrentLoad();
+ for (Integer stationId : loopVo.getStationIdList()) {
+ if (stationId != null) {
+ stationLoopLoadMap.put(stationId, currentLoad);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ return stationLoopLoadMap;
+ }
+
+ private int compareDouble(double left, double right, int thenLeft1, int thenRight1, int thenLeft2, int thenRight2) {
+ int result = Double.compare(left, right);
+ if (result != 0) {
+ return result;
+ }
+ result = Integer.compare(thenLeft1, thenRight1);
+ if (result != 0) {
+ return result;
+ }
+ return Integer.compare(thenLeft2, thenRight2);
+ }
+
+ private int safeInt(Integer value, int defaultValue) {
+ return value == null ? defaultValue : value;
+ }
+
+ private double safeDouble(Double value, double defaultValue) {
+ return value == null ? defaultValue : value;
+ }
+
+ private boolean notBlank(String text) {
+ return text != null && !text.trim().isEmpty();
+ }
+
+ private <T> List<T> safeList(List<T> list) {
+ return list == null ? Collections.emptyList() : list;
+ }
+
+ private static class PathCandidateMetrics {
+ private List<NavigateNode> path;
+ private int pathLen;
+ private int turnCount;
+ private int liftTransferCount;
+ private int passOtherOutStationCount;
+ private int busyStationCount;
+ private int runBlockCount;
+ private int softDeviationCount;
+ private double loopPenalty;
+ private double staticCost;
+ private double dynamicCost;
+ }
+
+ private static class PathGlobalPolicy {
+ private double lenWeightFactor = 1.0d;
+ private double congWeightFactor = 1.0d;
+ private double passOtherOutStationPenaltyWeight = 0.0d;
+ private boolean forceSkipPassOtherOutStation = false;
+ }
+ private PathGlobalPolicy loadPathGlobalPolicy(StationPathProfileConfig profileConfig) {
+ PathGlobalPolicy weights = new PathGlobalPolicy();
+ StationPathProfileConfig source = profileConfig == null ? StationPathProfileConfig.defaultConfig() : profileConfig;
+ double lenWeightPercent = safeDouble(source.getStationPathLenWeightPercent(), 50.0d);
+ double congWeightPercent = safeDouble(source.getStationPathCongWeightPercent(), 50.0d);
+ double passOtherOutStationWeightPercent = safeDouble(source.getStationPathPassOtherOutStationWeightPercent(), 100.0d);
+ weights.forceSkipPassOtherOutStation = Boolean.TRUE.equals(source.getStationPathPassOtherOutStationForceSkip());
+
+ lenWeightPercent = Math.max(lenWeightPercent, 0.0d);
+ congWeightPercent = Math.max(congWeightPercent, 0.0d);
+ passOtherOutStationWeightPercent = Math.max(passOtherOutStationWeightPercent, 0.0d);
+ double weightSum = lenWeightPercent + congWeightPercent;
+ if (weightSum <= 0) {
+ weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
+ return weights;
+ }
+
+ weights.lenWeightFactor = (lenWeightPercent / weightSum) * 2.0d;
+ weights.congWeightFactor = (congWeightPercent / weightSum) * 2.0d;
+ weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
+ return weights;
+ }
+
+ private Set<Integer> loadAllOutStationIdSet() {
+ Set<Integer> outStationIdSet = new HashSet<>();
+ try {
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ if (basDevpService == null) {
+ return outStationIdSet;
+ }
+ List<BasDevp> basDevpList = basDevpService.list(new QueryWrapper<BasDevp>().eq("status", 1));
+ for (BasDevp basDevp : basDevpList) {
+ List<StationObjModel> outStationList = basDevp.getOutStationList$();
+ for (StationObjModel stationObjModel : outStationList) {
+ if (stationObjModel != null && stationObjModel.getStationId() != null) {
+ outStationIdSet.add(stationObjModel.getStationId());
+ }
}
}
} catch (Exception ignore) {}
+ return outStationIdSet;
+ }
- double weightSum = lenWeightPercent + congWeightPercent;
- double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
- double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
-
- List<NavigateNode> best = null;
- double bestCost = Double.MAX_VALUE;
- int bestTasks = Integer.MAX_VALUE;
- int bestLen = Integer.MAX_VALUE;
- for (int i = 0; i < candidates.size(); i++) {
- int l = lens.get(i);
- int t = tasksList.get(i);
- double c = congs.get(i);
- //褰掍竴鍖�
- double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
- double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
- //鑾峰彇鏉冮噸
- double cost = lenNorm * lenW + congNorm * congW;
- if (cost < bestCost
- || (cost == bestCost && t < bestTasks)
- || (cost == bestCost && t == bestTasks && l < bestLen)) {
- best = candidates.get(i);
- bestCost = cost;
- bestTasks = t;
- bestLen = l;
+ private int countPassOtherOutStations(List<NavigateNode> path, Set<Integer> outStationIdSet) {
+ if (path == null || path.size() < 3 || outStationIdSet == null || outStationIdSet.isEmpty()) {
+ return 0;
+ }
+ Integer startStationId = extractStationId(path.get(0));
+ Integer endStationId = extractStationId(path.get(path.size() - 1));
+ Set<Integer> hitStationIdSet = new HashSet<>();
+ for (int i = 1; i < path.size() - 1; i++) {
+ Integer stationId = extractStationId(path.get(i));
+ if (stationId == null) {
+ continue;
+ }
+ if (startStationId != null && startStationId.equals(stationId)) {
+ continue;
+ }
+ if (endStationId != null && endStationId.equals(stationId)) {
+ continue;
+ }
+ if (outStationIdSet.contains(stationId)) {
+ hitStationIdSet.add(stationId);
}
}
+ return hitStationIdSet.size();
+ }
- if (best == null) {
- return allList.get(0);
+ private Integer extractStationId(NavigateNode node) {
+ if (node == null || node.getNodeValue() == null) {
+ return null;
}
- return best;
+ try {
+ JSONObject value = JSON.parseObject(node.getNodeValue());
+ if (value == null) {
+ return null;
+ }
+ return value.getInteger("stationId");
+ } catch (Exception ignore) {}
+ return null;
}
//鍒ゆ柇褰撳墠鑺傜偣鍒颁笅涓�涓妭鐐规槸鍚︿负鎷愮偣
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