From 7a6292c5e99ce5bed133687c9f21235836025783 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 20 三月 2026 19:12:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 546 ++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 523 insertions(+), 23 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 024ac05..b3b87dc 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -4,6 +4,7 @@
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
+import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
@@ -11,17 +12,22 @@
import com.zy.asrs.domain.path.StationPathProfileConfig;
import com.zy.asrs.domain.path.StationPathResolvedPolicy;
import com.zy.asrs.domain.path.StationPathRuleConfig;
+import com.zy.asrs.domain.vo.StationTaskTraceSegmentVo;
+import com.zy.asrs.entity.BasStationOpt;
import com.zy.asrs.domain.vo.StationTaskTraceVo;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasStation;
+import com.zy.asrs.service.BasStationOptService;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.service.StationPathPolicyService;
import com.zy.core.News;
import com.zy.core.model.StationObjModel;
+import com.zy.core.model.command.StationCommand;
+import com.zy.core.enums.StationCommandType;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -39,6 +45,9 @@
import com.zy.core.thread.StationThread;
import com.zy.core.trace.StationTaskTraceRegistry;
+import java.util.Date;
+import java.util.LinkedHashMap;
+
@Component
public class NavigateUtils {
@@ -54,6 +63,8 @@
@Autowired
private BasStationService basStationService;
+ @Autowired
+ private BasStationOptService basStationOptService;
@Autowired
private StationPathPolicyService stationPathPolicyService;
@Autowired
@@ -318,11 +329,17 @@
Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
+ LoopMergeGuardContext loopMergeGuardContext = loadLoopMergeGuardContext();
Set<Integer> outStationIdSet = loadAllOutStationIdSet();
List<PathCandidateMetrics> metricsList = new ArrayList<>();
int skippedByOtherOutStation = 0;
+ int skippedByLoopMergeGuard = 0;
for (List<NavigateNode> path : filteredCandidates) {
if (path == null || path.isEmpty()) {
+ continue;
+ }
+ if (!isLoopMergePathAllowed(path, statusMap, trafficSnapshot, loopMergeGuardContext)) {
+ skippedByLoopMergeGuard++;
continue;
}
PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
@@ -335,6 +352,10 @@
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());
+ } else if (skippedByLoopMergeGuard > 0) {
+ News.warn("[WCS Debug] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽洜鍒嗗弶鍙ｆ彃鍏ョ幆绾夸富骞蹭細褰卞搷涓诲共閬�,startStationId={},endStationId={}",
resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
}
@@ -926,6 +947,113 @@
return stationLoopLoadMap;
}
+ private LoopMergeGuardContext loadLoopMergeGuardContext() {
+ LoopMergeGuardContext context = new LoopMergeGuardContext();
+ try {
+ if (stationCycleCapacityService == null) {
+ return context;
+ }
+ StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
+ if (capacityVo == null || capacityVo.getLoopList() == null || capacityVo.getLoopList().isEmpty()) {
+ return context;
+ }
+
+ Map<Integer, Set<Integer>> stationGraph = loadUndirectedStationGraph();
+ if (stationGraph.isEmpty()) {
+ return context;
+ }
+
+ for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
+ List<Integer> rawStationIdList = loopVo == null ? Collections.emptyList() : loopVo.getStationIdList();
+ List<Integer> loopStationIdList = distinctPositiveStationIds(rawStationIdList);
+ if (loopStationIdList.size() < 3) {
+ continue;
+ }
+ Set<Integer> loopStationSet = new HashSet<>(loopStationIdList);
+ for (Integer stationId : loopStationSet) {
+ context.loopStationIdSet.add(stationId);
+ Set<Integer> graphNeighborSet = stationGraph.getOrDefault(stationId, Collections.emptySet());
+ Set<Integer> loopNeighborSet = new LinkedHashSet<>();
+ for (Integer neighborStationId : graphNeighborSet) {
+ if (neighborStationId != null && loopStationSet.contains(neighborStationId)) {
+ loopNeighborSet.add(neighborStationId);
+ }
+ }
+ if (!loopNeighborSet.isEmpty()) {
+ context.loopNeighborMap.computeIfAbsent(stationId, key -> new LinkedHashSet<>()).addAll(loopNeighborSet);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ return context;
+ }
+
+ private Map<Integer, Set<Integer>> loadUndirectedStationGraph() {
+ Map<Integer, Set<Integer>> graph = new HashMap<>();
+ List<Integer> levList = loadStationLevList();
+ if (levList.isEmpty()) {
+ return graph;
+ }
+
+ NavigateSolution navigateSolution = new NavigateSolution();
+ for (Integer lev : levList) {
+ if (lev == null) {
+ continue;
+ }
+ List<List<NavigateNode>> stationMap;
+ try {
+ stationMap = navigateSolution.getStationMap(lev);
+ } catch (Exception ignore) {
+ continue;
+ }
+ if (stationMap == null || stationMap.isEmpty()) {
+ continue;
+ }
+
+ for (List<NavigateNode> row : stationMap) {
+ for (NavigateNode node : safeList(row)) {
+ Integer stationId = extractStationId(node);
+ if (stationId == null) {
+ continue;
+ }
+ graph.computeIfAbsent(stationId, key -> new LinkedHashSet<>());
+ List<NavigateNode> nextNodeList = navigateSolution.extend_current_node(stationMap, node);
+ for (NavigateNode nextNode : safeList(nextNodeList)) {
+ Integer nextStationId = extractStationId(nextNode);
+ if (nextStationId == null || stationId.equals(nextStationId)) {
+ continue;
+ }
+ graph.computeIfAbsent(nextStationId, key -> new LinkedHashSet<>());
+ graph.get(stationId).add(nextStationId);
+ graph.get(nextStationId).add(stationId);
+ }
+ }
+ }
+ }
+ return graph;
+ }
+
+ private List<Integer> loadStationLevList() {
+ List<Integer> levList = new ArrayList<>();
+ if (basStationService == null) {
+ return levList;
+ }
+ try {
+ List<BasStation> stationList = basStationService.list(new QueryWrapper<BasStation>().select("station_lev"));
+ Set<Integer> seen = new HashSet<>();
+ for (BasStation station : safeList(stationList)) {
+ Integer lev = station == null ? null : station.getStationLev();
+ if (lev != null && seen.add(lev)) {
+ levList.add(lev);
+ }
+ }
+ Collections.sort(levList);
+ } catch (Exception ignore) {
+ }
+ return levList;
+ }
+
private StationTrafficSnapshot loadStationTrafficSnapshot(Map<Integer, StationProtocol> statusMap, Integer currentTaskNo) {
StationTrafficSnapshot snapshot = new StationTrafficSnapshot();
Map<Integer, Integer> busyMap = new HashMap<>();
@@ -945,7 +1073,7 @@
}
}
- for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo)) {
+ for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo, statusMap)) {
if (traceVo == null) {
continue;
}
@@ -1017,31 +1145,118 @@
return snapshot;
}
- private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo) {
- if (stationTaskTraceRegistry == null) {
- return Collections.emptyList();
- }
- List<StationTaskTraceVo> traceList;
- try {
- traceList = stationTaskTraceRegistry.listLatestTraces();
- } catch (Exception ignore) {
- return Collections.emptyList();
- }
- if (traceList == null || traceList.isEmpty()) {
- return Collections.emptyList();
+ private boolean isLoopMergePathAllowed(List<NavigateNode> path,
+ Map<Integer, StationProtocol> statusMap,
+ StationTrafficSnapshot trafficSnapshot,
+ LoopMergeGuardContext loopMergeGuardContext) {
+ if (path == null || path.size() < 2 || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
+ return true;
}
- List<StationTaskTraceVo> result = new ArrayList<>();
- for (StationTaskTraceVo traceVo : traceList) {
- if (!isPlanningActiveTrace(traceVo)) {
- continue;
- }
- if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
- continue;
- }
- result.add(traceVo);
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (stationIdList.size() < 2) {
+ return true;
}
- return result;
+
+ for (int i = 1; i < stationIdList.size(); i++) {
+ Integer prevStationId = stationIdList.get(i - 1);
+ Integer currentStationId = stationIdList.get(i);
+ if (prevStationId == null || currentStationId == null) {
+ continue;
+ }
+ if (loopMergeGuardContext.loopStationIdSet.contains(prevStationId)
+ || !loopMergeGuardContext.loopStationIdSet.contains(currentStationId)) {
+ continue;
+ }
+
+ Set<Integer> trunkNeighborSet = loopMergeGuardContext.loopNeighborMap.getOrDefault(currentStationId, Collections.emptySet());
+ if (trunkNeighborSet.size() < 2) {
+ continue;
+ }
+
+ for (Integer trunkNeighborStationId : trunkNeighborSet) {
+ if (isStationOccupiedForLoopMerge(trunkNeighborStationId, statusMap, trafficSnapshot)) {
+ return false;
+ }
+ }
+ }
+ return true;
+ }
+
+ private boolean isStationOccupiedForLoopMerge(Integer stationId,
+ Map<Integer, StationProtocol> statusMap,
+ StationTrafficSnapshot trafficSnapshot) {
+ if (stationId == null) {
+ return false;
+ }
+
+ StationProtocol protocol = statusMap == null ? null : statusMap.get(stationId);
+ if (protocol != null) {
+ if ((protocol.getTaskNo() != null && protocol.getTaskNo() > 0) || protocol.isRunBlock()) {
+ return true;
+ }
+ }
+
+ if (trafficSnapshot == null) {
+ return false;
+ }
+ if (trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0) > 0) {
+ return true;
+ }
+
+ for (TraceRouteSnapshot routeSnapshot : trafficSnapshot.traceRouteList) {
+ if (routeSnapshot == null) {
+ continue;
+ }
+ if (stationId.equals(routeSnapshot.currentStationId)) {
+ return true;
+ }
+ if (containsStation(routeSnapshot.issuedStationIds, stationId)
+ || containsStation(routeSnapshot.pendingStationIds, stationId)) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private boolean containsStation(List<Integer> stationIdList, Integer stationId) {
+ if (stationId == null || stationIdList == null || stationIdList.isEmpty()) {
+ return false;
+ }
+ for (Integer currentStationId : stationIdList) {
+ if (stationId.equals(currentStationId)) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo, Map<Integer, StationProtocol> statusMap) {
+ Map<Integer, StationTaskTraceVo> traceMap = new LinkedHashMap<>();
+ if (stationTaskTraceRegistry != null) {
+ try {
+ List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listLatestTraces();
+ if (traceList != null) {
+ for (StationTaskTraceVo traceVo : traceList) {
+ if (!isPlanningActiveTrace(traceVo)) {
+ continue;
+ }
+ if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
+ continue;
+ }
+ if (traceVo.getTaskNo() != null) {
+ traceMap.put(traceVo.getTaskNo(), traceVo);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ }
+ Map<Integer, StationTaskTraceVo> fallbackTraceMap = loadFallbackActiveTraceMap(currentTaskNo, statusMap, traceMap.keySet());
+ if (!fallbackTraceMap.isEmpty()) {
+ traceMap.putAll(fallbackTraceMap);
+ }
+ return new ArrayList<>(traceMap.values());
}
private boolean isPlanningActiveTrace(StationTaskTraceVo traceVo) {
@@ -1052,6 +1267,275 @@
return StationTaskTraceRegistry.STATUS_WAITING.equals(status)
|| StationTaskTraceRegistry.STATUS_RUNNING.equals(status)
|| StationTaskTraceRegistry.STATUS_REROUTED.equals(status);
+ }
+
+ private Map<Integer, StationTaskTraceVo> loadFallbackActiveTraceMap(Integer currentTaskNo,
+ Map<Integer, StationProtocol> statusMap,
+ Set<Integer> existingTaskNoSet) {
+ if (basStationOptService == null || statusMap == null || statusMap.isEmpty()) {
+ return Collections.emptyMap();
+ }
+
+ Map<Integer, StationProtocol> activeTaskProtocolMap = new LinkedHashMap<>();
+ for (StationProtocol protocol : statusMap.values()) {
+ if (protocol == null || protocol.getTaskNo() == null || protocol.getTaskNo() <= 0) {
+ continue;
+ }
+ if (!Boolean.TRUE.equals(protocol.isLoading())) {
+ continue;
+ }
+ if (currentTaskNo != null && currentTaskNo.equals(protocol.getTaskNo())) {
+ continue;
+ }
+ if (existingTaskNoSet != null && existingTaskNoSet.contains(protocol.getTaskNo())) {
+ continue;
+ }
+ activeTaskProtocolMap.putIfAbsent(protocol.getTaskNo(), protocol);
+ }
+ if (activeTaskProtocolMap.isEmpty()) {
+ return Collections.emptyMap();
+ }
+
+ List<Integer> taskNoList = new ArrayList<>(activeTaskProtocolMap.keySet());
+ int limit = Math.max(50, taskNoList.size() * 8);
+ List<BasStationOpt> optList;
+ try {
+ optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
+ .select("id", "task_no", "send_time", "command", "mode", "send", "target_station_id")
+ .in("task_no", taskNoList)
+ .eq("send", 1)
+ .orderByDesc("send_time")
+ .last("limit " + limit));
+ } catch (Exception ignore) {
+ return Collections.emptyMap();
+ }
+ if (optList == null || optList.isEmpty()) {
+ return Collections.emptyMap();
+ }
+
+ Map<Integer, List<FallbackMoveCommand>> fallbackCommandMap = new LinkedHashMap<>();
+ for (BasStationOpt opt : optList) {
+ FallbackMoveCommand moveCommand = parseFallbackMoveCommand(opt);
+ if (moveCommand == null || moveCommand.taskNo == null) {
+ continue;
+ }
+ if (!activeTaskProtocolMap.containsKey(moveCommand.taskNo)) {
+ continue;
+ }
+ fallbackCommandMap.computeIfAbsent(moveCommand.taskNo, key -> new ArrayList<>()).add(moveCommand);
+ }
+
+ Map<Integer, StationTaskTraceVo> result = new LinkedHashMap<>();
+ for (Map.Entry<Integer, StationProtocol> entry : activeTaskProtocolMap.entrySet()) {
+ Integer taskNo = entry.getKey();
+ StationProtocol protocol = entry.getValue();
+ StationTaskTraceVo fallbackTrace = buildFallbackTraceVo(taskNo, protocol, fallbackCommandMap.get(taskNo));
+ if (fallbackTrace != null) {
+ result.put(taskNo, fallbackTrace);
+ }
+ }
+ return result;
+ }
+
+ private FallbackMoveCommand parseFallbackMoveCommand(BasStationOpt opt) {
+ if (opt == null || opt.getTaskNo() == null || opt.getTaskNo() <= 0) {
+ return null;
+ }
+ try {
+ StationCommand command = JSON.parseObject(opt.getCommand(), StationCommand.class);
+ if (command == null || command.getCommandType() != StationCommandType.MOVE) {
+ return null;
+ }
+ List<Integer> navigatePath = distinctPositiveStationIds(command.getNavigatePath());
+ if (navigatePath.isEmpty()) {
+ return null;
+ }
+ FallbackMoveCommand item = new FallbackMoveCommand();
+ item.taskNo = opt.getTaskNo();
+ item.traceVersion = command.getTraceVersion();
+ item.segmentNo = command.getSegmentNo();
+ item.segmentCount = command.getSegmentCount();
+ item.stationId = command.getStationId();
+ item.targetStaNo = command.getTargetStaNo();
+ item.navigatePath = navigatePath;
+ item.sendTime = opt.getSendTime();
+ return item;
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private StationTaskTraceVo buildFallbackTraceVo(Integer taskNo,
+ StationProtocol protocol,
+ List<FallbackMoveCommand> commandList) {
+ if (taskNo == null || protocol == null || commandList == null || commandList.isEmpty()) {
+ return null;
+ }
+
+ Integer latestTraceVersion = null;
+ long latestTimestamp = 0L;
+ for (FallbackMoveCommand item : commandList) {
+ if (item == null) {
+ continue;
+ }
+ if (item.traceVersion != null && (latestTraceVersion == null || item.traceVersion > latestTraceVersion)) {
+ latestTraceVersion = item.traceVersion;
+ }
+ long ts = item.sendTime == null ? 0L : item.sendTime.getTime();
+ if (ts > latestTimestamp) {
+ latestTimestamp = ts;
+ }
+ }
+
+ List<FallbackMoveCommand> sameTraceCommandList = new ArrayList<>();
+ for (FallbackMoveCommand item : commandList) {
+ if (item == null) {
+ continue;
+ }
+ if (latestTraceVersion == null || latestTraceVersion.equals(item.traceVersion)) {
+ sameTraceCommandList.add(item);
+ }
+ }
+ sameTraceCommandList.sort((a, b) -> {
+ int av = a.segmentNo == null ? Integer.MAX_VALUE : a.segmentNo;
+ int bv = b.segmentNo == null ? Integer.MAX_VALUE : b.segmentNo;
+ if (av != bv) {
+ return Integer.compare(av, bv);
+ }
+ long at = a.sendTime == null ? 0L : a.sendTime.getTime();
+ long bt = b.sendTime == null ? 0L : b.sendTime.getTime();
+ return Long.compare(at, bt);
+ });
+
+ List<Integer> issuedPath = new ArrayList<>();
+ List<StationTaskTraceSegmentVo> segmentList = new ArrayList<>();
+ FallbackMoveCommand latestCommand = null;
+ for (FallbackMoveCommand item : sameTraceCommandList) {
+ if (item == null || item.navigatePath == null || item.navigatePath.isEmpty()) {
+ continue;
+ }
+ appendMergedPath(issuedPath, item.navigatePath);
+ segmentList.add(toTraceSegment(item));
+ if (latestCommand == null || compareFallbackCommand(item, latestCommand) > 0) {
+ latestCommand = item;
+ }
+ }
+ if (issuedPath.isEmpty()) {
+ return null;
+ }
+
+ Integer currentStationId = protocol.getStationId();
+ List<Integer> passedStationIds = new ArrayList<>();
+ List<Integer> pendingStationIds = new ArrayList<>();
+ if (currentStationId != null) {
+ int currentIndex = issuedPath.indexOf(currentStationId);
+ if (currentIndex >= 0) {
+ passedStationIds = copyIntegerSubList(issuedPath, 0, currentIndex);
+ pendingStationIds = copyIntegerSubList(issuedPath, currentIndex + 1, issuedPath.size());
+ } else {
+ pendingStationIds = new ArrayList<>(issuedPath);
+ }
+ } else {
+ pendingStationIds = new ArrayList<>(issuedPath);
+ }
+
+ StationTaskTraceVo vo = new StationTaskTraceVo();
+ vo.setTaskNo(taskNo);
+ vo.setThreadImpl("DB_FALLBACK");
+ vo.setStatus(StationTaskTraceRegistry.STATUS_RUNNING);
+ vo.setTraceVersion(latestTraceVersion == null ? 1 : latestTraceVersion);
+ vo.setStartStationId(issuedPath.isEmpty() ? null : issuedPath.get(0));
+ vo.setCurrentStationId(currentStationId);
+ vo.setFinalTargetStationId(protocol.getTargetStaNo() != null ? protocol.getTargetStaNo()
+ : latestCommand == null ? null : latestCommand.targetStaNo);
+ vo.setBlockedStationId(null);
+ vo.setFullPathStationIds(new ArrayList<>(issuedPath));
+ vo.setIssuedStationIds(new ArrayList<>(issuedPath));
+ vo.setPassedStationIds(passedStationIds);
+ vo.setPendingStationIds(pendingStationIds);
+ vo.setLatestIssuedSegmentPath(latestCommand == null ? Collections.emptyList() : new ArrayList<>(latestCommand.navigatePath));
+ vo.setSegmentList(segmentList);
+ vo.setIssuedSegmentCount(segmentList.size());
+ vo.setTotalSegmentCount(latestCommand == null || latestCommand.segmentCount == null
+ ? segmentList.size()
+ : latestCommand.segmentCount);
+ vo.setUpdatedAt(latestTimestamp > 0L ? latestTimestamp : System.currentTimeMillis());
+ vo.setEvents(Collections.emptyList());
+ return vo;
+ }
+
+ private int compareFallbackCommand(FallbackMoveCommand a, FallbackMoveCommand b) {
+ int av = a == null || a.segmentNo == null ? Integer.MIN_VALUE : a.segmentNo;
+ int bv = b == null || b.segmentNo == null ? Integer.MIN_VALUE : b.segmentNo;
+ if (av != bv) {
+ return Integer.compare(av, bv);
+ }
+ long at = a == null || a.sendTime == null ? 0L : a.sendTime.getTime();
+ long bt = b == null || b.sendTime == null ? 0L : b.sendTime.getTime();
+ return Long.compare(at, bt);
+ }
+
+ private StationTaskTraceSegmentVo toTraceSegment(FallbackMoveCommand item) {
+ StationTaskTraceSegmentVo segmentVo = new StationTaskTraceSegmentVo();
+ if (item == null) {
+ return segmentVo;
+ }
+ segmentVo.setSegmentNo(item.segmentNo);
+ segmentVo.setSegmentCount(item.segmentCount);
+ segmentVo.setStationId(item.stationId);
+ segmentVo.setTargetStationId(item.targetStaNo);
+ segmentVo.setSegmentPath(item.navigatePath == null ? Collections.emptyList() : new ArrayList<>(item.navigatePath));
+ segmentVo.setIssued(Boolean.TRUE);
+ return segmentVo;
+ }
+
+ private void appendMergedPath(List<Integer> target, List<Integer> source) {
+ if (target == null || source == null || source.isEmpty()) {
+ return;
+ }
+ if (target.isEmpty()) {
+ target.addAll(source);
+ return;
+ }
+ int overlap = 0;
+ int maxOverlap = Math.min(target.size(), source.size());
+ for (int size = maxOverlap; size >= 1; size--) {
+ boolean matched = true;
+ for (int i = 0; i < size; i++) {
+ Integer left = target.get(target.size() - size + i);
+ Integer right = source.get(i);
+ if (left == null || !left.equals(right)) {
+ matched = false;
+ break;
+ }
+ }
+ if (matched) {
+ overlap = size;
+ break;
+ }
+ }
+ for (int i = overlap; i < source.size(); i++) {
+ Integer stationId = source.get(i);
+ if (stationId != null) {
+ target.add(stationId);
+ }
+ }
+ }
+
+ private List<Integer> copyIntegerSubList(List<Integer> source, int fromIndex, int toIndex) {
+ if (source == null || source.isEmpty()) {
+ return new ArrayList<>();
+ }
+ int from = Math.max(0, fromIndex);
+ int to = Math.min(source.size(), Math.max(from, toIndex));
+ List<Integer> result = new ArrayList<>();
+ for (int i = from; i < to; i++) {
+ Integer value = source.get(i);
+ if (value != null) {
+ result.add(value);
+ }
+ }
+ return result;
}
private List<Integer> distinctPositiveStationIds(List<Integer> stationIdList) {
@@ -1215,6 +1699,22 @@
private double sequentialRisk;
}
+ private static class FallbackMoveCommand {
+ private Integer taskNo;
+ private Integer traceVersion;
+ private Integer segmentNo;
+ private Integer segmentCount;
+ private Integer stationId;
+ private Integer targetStaNo;
+ private List<Integer> navigatePath = Collections.emptyList();
+ private Date sendTime;
+ }
+
+ private static class LoopMergeGuardContext {
+ private final Set<Integer> loopStationIdSet = new HashSet<>();
+ private final Map<Integer, Set<Integer>> loopNeighborMap = new HashMap<>();
+ }
+
private static class PathGlobalPolicy {
private double lenWeightFactor = 1.0d;
private double congWeightFactor = 1.0d;
--
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