From 78443e96a6b02853b3f7869ededc459a558dacf0 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 16 三月 2026 12:49:36 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 664 ++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 627 insertions(+), 37 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..1529d69 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;
@@ -31,11 +42,20 @@
@Component
public class NavigateUtils {
+ private static final String CFG_STATION_PATH_LEN_WEIGHT_PERCENT = "stationPathLenWeightPercent";
+ private static final String CFG_STATION_PATH_CONG_WEIGHT_PERCENT = "stationPathCongWeightPercent";
+ private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT = "stationPathPassOtherOutStationWeightPercent";
+ private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP = "stationPathPassOtherOutStationForceSkip";
+
@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 +65,48 @@
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 = 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");
+// throw new CoolException("鏈壘鍒拌璺緞");
+ 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 = 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
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 +114,20 @@
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 +160,8 @@
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);
@@ -193,6 +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<>();
@@ -202,7 +673,7 @@
try {
DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
if (deviceConfigService != null) {
- List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ 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());
@@ -217,10 +688,28 @@
}
} catch (Exception ignore) {}
+ Set<Integer> outStationIdSet = loadAllOutStationIdSet();
+
+ double lenWeightPercent = 50.0;
+ double congWeightPercent = 50.0;
+ double passOtherOutStationWeightPercent = 100.0;
+ boolean forceSkipPassOtherOutStation = false;
+ try {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if (configService != null) {
+ lenWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_LEN_WEIGHT_PERCENT, lenWeightPercent);
+ congWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_CONG_WEIGHT_PERCENT, congWeightPercent);
+ passOtherOutStationWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT, passOtherOutStationWeightPercent);
+ forceSkipPassOtherOutStation = loadBooleanConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP, false);
+ }
+ } catch (Exception ignore) {}
+
List<List<NavigateNode>> candidates = new ArrayList<>();
List<Integer> lens = new ArrayList<>();
List<Integer> tasksList = new ArrayList<>();
List<Double> congs = new ArrayList<>();
+ List<Integer> passOtherOutStationCounts = new ArrayList<>();
+ int skippedByPassOtherOutStation = 0;
for (List<NavigateNode> path : allList) {
if (path == null || path.isEmpty()) {
@@ -250,13 +739,27 @@
}
}
double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
+ int passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
+ if (forceSkipPassOtherOutStation && passOtherOutStationCount > 0) {
+ skippedByPassOtherOutStation++;
+ News.info("[WCS Debug] 绔欑偣璺緞鍊欓�夊凡璺宠繃锛屽洜缁忚繃鍏朵粬鍑哄簱绔欑偣,startStationId={},endStationId={},passOtherOutStationCount={}",
+ extractStationId(path.get(0)),
+ extractStationId(path.get(path.size() - 1)),
+ passOtherOutStationCount);
+ continue;
+ }
candidates.add(path);
lens.add(len);
tasksList.add(tasks);
congs.add(cong);
+ passOtherOutStationCounts.add(passOtherOutStationCount);
}
if (candidates.isEmpty()) {
+ if (forceSkipPassOtherOutStation && skippedByPassOtherOutStation > 0) {
+ News.info("[WCS Debug] 鎵�鏈夌珯鐐硅矾寰勫�欓�夊潎鍥犵粡杩囧叾浠栧嚭搴撶珯鐐硅寮哄埗璺宠繃");
+ return new ArrayList<>();
+ }
return allList.get(0);
}
@@ -264,59 +767,50 @@
int maxLen = Integer.MIN_VALUE;
double minCong = Double.MAX_VALUE;
double maxCong = -Double.MAX_VALUE;
+ int minPassOtherOutStationCount = Integer.MAX_VALUE;
+ int maxPassOtherOutStationCount = Integer.MIN_VALUE;
for (int i = 0; i < candidates.size(); i++) {
int l = lens.get(i);
double c = congs.get(i);
+ int p = passOtherOutStationCounts.get(i);
if (l < minLen) minLen = l;
if (l > maxLen) maxLen = l;
if (c < minCong) minCong = c;
if (c > maxCong) maxCong = c;
+ if (p < minPassOtherOutStationCount) minPassOtherOutStationCount = p;
+ if (p > maxPassOtherOutStationCount) maxPassOtherOutStationCount = p;
}
- //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) {}
- }
- 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) {}
- }
- }
- } catch (Exception ignore) {}
-
- double weightSum = lenWeightPercent + congWeightPercent;
+ double weightSum = lenWeightPercent + congWeightPercent + passOtherOutStationWeightPercent;
double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
+ double passOtherOutStationW = weightSum <= 0 ? 0.0 : passOtherOutStationWeightPercent / weightSum;
List<NavigateNode> best = null;
double bestCost = Double.MAX_VALUE;
+ int bestPassOtherOutStationCount = Integer.MAX_VALUE;
int bestTasks = Integer.MAX_VALUE;
int bestLen = Integer.MAX_VALUE;
for (int i = 0; i < candidates.size(); i++) {
int l = lens.get(i);
int t = tasksList.get(i);
double c = congs.get(i);
+ int p = passOtherOutStationCounts.get(i);
//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);
+ double passOtherOutStationNorm = (maxPassOtherOutStationCount - minPassOtherOutStationCount) <= 0
+ ? 0.0
+ : (p - minPassOtherOutStationCount) / (double) (maxPassOtherOutStationCount - minPassOtherOutStationCount);
//鑾峰彇鏉冮噸
- double cost = lenNorm * lenW + congNorm * congW;
+ double cost = lenNorm * lenW + congNorm * congW + passOtherOutStationNorm * passOtherOutStationW;
if (cost < bestCost
- || (cost == bestCost && t < bestTasks)
- || (cost == bestCost && t == bestTasks && l < bestLen)) {
+ || (cost == bestCost && p < bestPassOtherOutStationCount)
+ || (cost == bestCost && p == bestPassOtherOutStationCount && t < bestTasks)
+ || (cost == bestCost && p == bestPassOtherOutStationCount && t == bestTasks && l < bestLen)) {
best = candidates.get(i);
bestCost = cost;
+ bestPassOtherOutStationCount = p;
bestTasks = t;
bestLen = l;
}
@@ -328,6 +822,102 @@
return best;
}
+ 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;
+ }
+
+ 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();
+ }
+
+ private Integer extractStationId(NavigateNode node) {
+ if (node == null || node.getNodeValue() == null) {
+ return null;
+ }
+ try {
+ JSONObject value = JSON.parseObject(node.getNodeValue());
+ if (value == null) {
+ return null;
+ }
+ return value.getInteger("stationId");
+ } catch (Exception ignore) {}
+ return null;
+ }
+
+ private double loadDoubleConfig(ConfigService configService, String code, double defaultValue) {
+ if (configService == null || code == null) {
+ return defaultValue;
+ }
+ Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
+ if (config == null || config.getValue() == null) {
+ return defaultValue;
+ }
+ String value = config.getValue().trim();
+ if (value.endsWith("%")) {
+ value = value.substring(0, value.length() - 1);
+ }
+ try {
+ return Double.parseDouble(value);
+ } catch (Exception ignore) {}
+ return defaultValue;
+ }
+
+ private boolean loadBooleanConfig(ConfigService configService, String code, boolean defaultValue) {
+ if (configService == null || code == null) {
+ return defaultValue;
+ }
+ Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
+ if (config == null || config.getValue() == null) {
+ return defaultValue;
+ }
+ String value = config.getValue().trim();
+ if (value.isEmpty()) {
+ return defaultValue;
+ }
+ return "1".equals(value)
+ || "true".equalsIgnoreCase(value)
+ || "yes".equalsIgnoreCase(value)
+ || "y".equalsIgnoreCase(value)
+ || "on".equalsIgnoreCase(value);
+ }
+
//鍒ゆ柇褰撳墠鑺傜偣鍒颁笅涓�涓妭鐐规槸鍚︿负鎷愮偣
public HashMap<String,Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
HashMap<String, Object> map = new HashMap<>();
--
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