From 5a56b56dc646c89669bfbc373853689d2888f103 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 16 三月 2026 13:41:15 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 450 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 448 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 620f8f7..1529d69 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -8,10 +8,17 @@
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;
@@ -42,6 +49,10 @@
@Autowired
private BasStationService basStationService;
+ @Autowired
+ private StationPathPolicyService stationPathPolicyService;
+ @Autowired
+ private StationCycleCapacityService stationCycleCapacityService;
public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
BasStation startStation = basStationService.getById(startStationId);
@@ -63,9 +74,17 @@
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 = 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);
if (allList.isEmpty()) {
// throw new CoolException("鏈壘鍒拌璺緞");
return new ArrayList<>();
@@ -74,7 +93,9 @@
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 = resolvedPolicy.useTwoStage()
+ ? findStationBestPathTwoStage(allList, resolvedPolicy)
+ : findStationBestPath(allList);
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
@@ -218,6 +239,431 @@
return liftStationList;
}
+ 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� legacy: {}", e.getMessage());
+ }
+ return new StationPathResolvedPolicy();
+ }
+
+ private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList, StationPathResolvedPolicy resolvedPolicy) {
+ if (allList == null || allList.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ StationPathRuleConfig ruleConfig = resolvedPolicy.getRuleConfig() == null
+ ? new StationPathRuleConfig()
+ : resolvedPolicy.getRuleConfig();
+ StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
+ ? StationPathProfileConfig.defaultConfig()
+ : resolvedPolicy.getProfileConfig();
+
+ 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");
+ }
+ 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<>();
+ }
+ filteredCandidates = allList;
+ }
+
+ Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
+ Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
+ List<PathCandidateMetrics> metricsList = new ArrayList<>();
+ for (List<NavigateNode> path : filteredCandidates) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ metricsList.add(buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig));
+ }
+ if (metricsList.isEmpty()) {
+ 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;
+ }
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (!matchHardConstraint(stationIdList, ruleConfig.getHard())) {
+ continue;
+ }
+ if (includeWaypoint && !matchWaypointConstraint(stationIdList, ruleConfig.getWaypoint())) {
+ 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;
+ }
+ }
+ }
+ return false;
+ }
+
+ private boolean hasWaypoint(StationPathRuleConfig ruleConfig) {
+ return ruleConfig != null
+ && ruleConfig.getWaypoint() != null
+ && ruleConfig.getWaypoint().getStations() != null
+ && !ruleConfig.getWaypoint().getStations().isEmpty();
+ }
+
+ private boolean strictWaypoint(StationPathRuleConfig ruleConfig) {
+ return ruleConfig != null
+ && ruleConfig.getFallback() != null
+ && Boolean.TRUE.equals(ruleConfig.getFallback().getStrictWaypoint());
+ }
+
+ 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) {
+ 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.softDeviationCount = calcSoftDeviationCount(stationIdList,
+ ruleConfig == null || ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
+
+ double softDeviationWeight = safeDouble(profileConfig.getS1SoftDeviationWeight(), 4.0d);
+ if (ruleConfig != null && ruleConfig.getSoft() != null && ruleConfig.getSoft().getDeviationWeight() != null) {
+ softDeviationWeight = ruleConfig.getSoft().getDeviationWeight();
+ }
+
+ metrics.staticCost =
+ safeDouble(profileConfig.getS1LenWeight(), 1.0d) * metrics.pathLen
+ + safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
+ + safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
+ + softDeviationWeight * metrics.softDeviationCount;
+
+ metrics.dynamicCost =
+ safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * 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, List<Integer> preferredPath) {
+ if (preferredPath == null || 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++;
+ }
+ }
+ return count;
+ }
+
+ 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 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 busyStationCount;
+ private int runBlockCount;
+ private int softDeviationCount;
+ private double loopPenalty;
+ private double staticCost;
+ private double dynamicCost;
+ }
+
public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
if (allList == null || allList.isEmpty()) {
return new ArrayList<>();
--
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