From 9a8571484d907978247aa6ac62f7ef6c4b49072b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 02 四月 2026 18:44:12 +0800
Subject: [PATCH] #预调度堆垛机
---
src/main/java/com/zy/common/utils/NavigateSolution.java | 507 +++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 441 insertions(+), 66 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateSolution.java b/src/main/java/com/zy/common/utils/NavigateSolution.java
index 6514e21..211fd98 100644
--- a/src/main/java/com/zy/common/utils/NavigateSolution.java
+++ b/src/main/java/com/zy/common/utils/NavigateSolution.java
@@ -2,20 +2,27 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.alibaba.fastjson.TypeReference;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.service.BasMapService;
import com.zy.common.model.NavigateNode;
+import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.MapNodeType;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.atomic.AtomicInteger;
/**
* A*绠楁硶瀹炵幇绫�
*/
public class NavigateSolution {
+
+ private static final long REDIS_MAP_CACHE_TTL_SECONDS = 60 * 60 * 24L;
+ private static final long MAP_CACHE_TTL_MS = 5000L;
+ private static final Map<String, CachedNavigateMap> NAVIGATE_MAP_CACHE = new ConcurrentHashMap<>();
// Open琛ㄧ敤浼樺厛闃熷垪
public PriorityQueue<NavigateNode> Open = new PriorityQueue<NavigateNode>();
@@ -25,14 +32,108 @@
Map<String, Integer> bestGMap = new HashMap<>();
public List<List<NavigateNode>> getStationMap(int lev) {
+ return cloneNavigateMap(loadCachedNavigateMap("station", lev));
+ }
+
+ public List<List<NavigateNode>> getRgvTrackMap(int lev) {
+ return cloneNavigateMap(loadCachedNavigateMap("rgv", lev));
+ }
+
+ private List<List<NavigateNode>> loadCachedNavigateMap(String mapType, int lev) {
+ String cacheKey = mapType + ":" + lev;
+ long now = System.currentTimeMillis();
+ CachedNavigateMap cachedNavigateMap = NAVIGATE_MAP_CACHE.get(cacheKey);
+ if (cachedNavigateMap != null && now - cachedNavigateMap.cacheAtMs <= MAP_CACHE_TTL_MS) {
+ return cachedNavigateMap.navigateMap;
+ }
+
+ List<List<NavigateNode>> redisNavigateMap = loadNavigateMapFromRedis(mapType, lev);
+ if (isValidNavigateMap(redisNavigateMap)) {
+ NAVIGATE_MAP_CACHE.put(cacheKey, new CachedNavigateMap(now, redisNavigateMap));
+ return redisNavigateMap;
+ }
+ clearMapCache(lev);
+
+ List<List<NavigateNode>> navigateNodeList = buildNavigateMap(mapType, lev);
+ cacheNavigateMap(cacheKey, mapType, lev, navigateNodeList, now);
+ return navigateNodeList;
+ }
+
+ public static void refreshAllMapCaches() {
BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
- BasMap basMap = basMapService.selectOne(new EntityWrapper<BasMap>().eq("lev", lev));
+ List<Integer> levList = basMapService.getLevList();
+ if (levList == null || levList.isEmpty()) {
+ NAVIGATE_MAP_CACHE.clear();
+ return;
+ }
+ LinkedHashSet<Integer> distinctLevSet = new LinkedHashSet<>(levList);
+ for (Integer lev : distinctLevSet) {
+ if (lev == null) {
+ continue;
+ }
+ refreshMapCache(lev);
+ }
+ }
+
+ public static void refreshMapCache(Integer lev) {
+ if (lev == null) {
+ return;
+ }
+ long now = System.currentTimeMillis();
+ NavigateSolution navigateSolution = new NavigateSolution();
+ List<List<NavigateNode>> stationMap = navigateSolution.buildNavigateMap("station", lev);
+ navigateSolution.cacheNavigateMap("station:" + lev, "station", lev, stationMap, now);
+ List<List<NavigateNode>> rgvMap = navigateSolution.buildNavigateMap("rgv", lev);
+ navigateSolution.cacheNavigateMap("rgv:" + lev, "rgv", lev, rgvMap, now);
+ }
+
+ public static void clearMapCache(Integer lev) {
+ if (lev == null) {
+ return;
+ }
+ NAVIGATE_MAP_CACHE.remove("station:" + lev);
+ NAVIGATE_MAP_CACHE.remove("rgv:" + lev);
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ redisUtil.del(buildRedisCacheKey("station", lev), buildRedisCacheKey("rgv", lev));
+ }
+
+ private void cacheNavigateMap(String localCacheKey,
+ String mapType,
+ int lev,
+ List<List<NavigateNode>> navigateNodeList,
+ long cacheAtMs) {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ redisUtil.set(buildRedisCacheKey(mapType, lev),
+ JSON.toJSONString(navigateNodeList),
+ REDIS_MAP_CACHE_TTL_SECONDS);
+ NAVIGATE_MAP_CACHE.put(localCacheKey, new CachedNavigateMap(cacheAtMs, navigateNodeList));
+ }
+
+ private List<List<NavigateNode>> loadNavigateMapFromRedis(String mapType, int lev) {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ Object cachedValue = redisUtil.get(buildRedisCacheKey(mapType, lev));
+ if (!(cachedValue instanceof String) || ((String) cachedValue).trim().isEmpty()) {
+ return null;
+ }
+ try {
+ return JSON.parseObject((String) cachedValue, new TypeReference<List<List<NavigateNode>>>() {});
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private static String buildRedisCacheKey(String mapType, int lev) {
+ return RedisKeyType.NAVIGATE_MAP_TEMPLATE_.key + mapType + "_" + lev;
+ }
+
+ private List<List<NavigateNode>> buildNavigateMap(String mapType, int lev) {
+ BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
+ BasMap basMap = basMapService.getOne(new QueryWrapper<BasMap>().eq("lev", lev));
if (basMap == null) {
throw new CoolException("鍦板浘涓嶅瓨鍦�");
}
List<List<JSONObject>> dataList = JSON.parseObject(basMap.getData(), List.class);
-
List<List<NavigateNode>> navigateNodeList = new ArrayList<>();
for (int i = 0; i < dataList.size(); i++) {
List<JSONObject> row = dataList.get(i);
@@ -42,24 +143,32 @@
NavigateNode navigateNode = new NavigateNode(i, j);
String nodeType = map.getString("type");
+ String mergeType = map.getString("mergeType");
String nodeValue = map.getString("value");
if(nodeType == null) {
navigateNode.setValue(MapNodeType.DISABLE.id);
- }else if(nodeType.equals("devp") || nodeType.equals("merge")){
+ } else if ("station".equals(mapType)
+ && (nodeType.equals("devp") || (nodeType.equals("merge") && "devp".equals(mergeType)))) {
navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
-
- JSONObject valueObj = JSON.parseObject(map.getString("value"));
- List<String> directionList = valueObj.getJSONArray("direction").toJavaList(String.class);
+ JSONObject valueObj = JSON.parseObject(nodeValue);
+ List<String> directionList = valueObj == null || valueObj.getJSONArray("direction") == null
+ ? new ArrayList<>()
+ : valueObj.getJSONArray("direction").toJavaList(String.class);
navigateNode.setDirectionList(directionList);
- } else if (nodeType.equals("rgv")) {
+ } else if ("station".equals(mapType) && nodeType.equals("rgv")) {
navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
- JSONObject valueObj = JSON.parseObject(map.getString("value"));
-
JSONObject newNodeValue = new JSONObject();
newNodeValue.put("rgvCalcFlag", 1);
nodeValue = JSON.toJSONString(newNodeValue);
- //RGV鏆備笉鎺у埗琛岃蛋鏂瑰悜锛岄粯璁や笂涓嬪乏鍙抽兘鍙蛋
+ List<String> directionList = new ArrayList<>();
+ directionList.add("top");
+ directionList.add("bottom");
+ directionList.add("left");
+ directionList.add("right");
+ navigateNode.setDirectionList(directionList);
+ } else if ("rgv".equals(mapType) && nodeType.equals("rgv")) {
+ navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
List<String> directionList = new ArrayList<>();
directionList.add("top");
directionList.add("bottom");
@@ -76,53 +185,103 @@
}
navigateNodeList.add(navigateNodeRow);
}
-
- return navigateNodeList;
+ return cropNavigateMap(navigateNodeList);
}
- public List<List<NavigateNode>> getRgvTrackMap(int lev) {
- BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
- BasMap basMap = basMapService.selectOne(new EntityWrapper<BasMap>().eq("lev", lev));
- if (basMap == null) {
- throw new CoolException("鍦板浘涓嶅瓨鍦�");
- }
-
- List<List<JSONObject>> dataList = JSON.parseObject(basMap.getData(), List.class);
-
- List<List<NavigateNode>> navigateNodeList = new ArrayList<>();
- for (int i = 0; i < dataList.size(); i++) {
- List<JSONObject> row = dataList.get(i);
- List<NavigateNode> navigateNodeRow = new ArrayList<>();
- for (int j = 0; j < row.size(); j++) {
- JSONObject map = row.get(j);
- NavigateNode navigateNode = new NavigateNode(i, j);
-
- String nodeType = map.getString("type");
- if(nodeType == null) {
- navigateNode.setValue(MapNodeType.DISABLE.id);
- }else if(nodeType.equals("rgv")){
- navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
- JSONObject valueObj = JSON.parseObject(map.getString("value"));
-
- //RGV鏆備笉鎺у埗琛岃蛋鏂瑰悜锛岄粯璁や笂涓嬪乏鍙抽兘鍙蛋
- List<String> directionList = new ArrayList<>();
- directionList.add("top");
- directionList.add("bottom");
- directionList.add("left");
- directionList.add("right");
- navigateNode.setDirectionList(directionList);
- }else {
- navigateNode.setValue(MapNodeType.DISABLE.id);
- }
-
- navigateNode.setNodeType(nodeType);
- navigateNode.setNodeValue(map.getString("value"));
- navigateNodeRow.add(navigateNode);
+ private List<List<NavigateNode>> cloneNavigateMap(List<List<NavigateNode>> sourceMap) {
+ List<List<NavigateNode>> cloneMap = new ArrayList<>();
+ for (List<NavigateNode> row : sourceMap) {
+ List<NavigateNode> cloneRow = new ArrayList<>();
+ for (NavigateNode node : row) {
+ cloneRow.add(node == null ? null : node.clone());
}
- navigateNodeList.add(navigateNodeRow);
+ cloneMap.add(cloneRow);
+ }
+ return cloneMap;
+ }
+
+ private boolean isValidNavigateMap(List<List<NavigateNode>> navigateMap) {
+ if (navigateMap == null || navigateMap.isEmpty() || navigateMap.get(0) == null || navigateMap.get(0).isEmpty()) {
+ return false;
}
- return navigateNodeList;
+ int activeNodeCount = 0;
+ for (List<NavigateNode> row : navigateMap) {
+ if (row == null || row.isEmpty()) {
+ return false;
+ }
+ for (NavigateNode node : row) {
+ if (node == null) {
+ return false;
+ }
+ if (node.getValue() == MapNodeType.DISABLE.id) {
+ continue;
+ }
+ activeNodeCount++;
+ if (node.getNodeType() == null) {
+ return false;
+ }
+ if (node.getDirectionList() == null || node.getDirectionList().isEmpty()) {
+ return false;
+ }
+ }
+ }
+ return activeNodeCount > 0;
+ }
+
+ /**
+ * 鍙繚鐣欏弬涓庤矾寰勮绠楃殑浜岀淮鍖哄煙锛屽幓鎺変笂涓嬪乏鍙虫暣鐗囨棤鏁堢┖鐧藉尯銆�
+ */
+ private List<List<NavigateNode>> cropNavigateMap(List<List<NavigateNode>> navigateMap) {
+ if (navigateMap == null || navigateMap.isEmpty() || navigateMap.get(0) == null || navigateMap.get(0).isEmpty()) {
+ return navigateMap;
+ }
+
+ int minX = Integer.MAX_VALUE;
+ int maxX = Integer.MIN_VALUE;
+ int minY = Integer.MAX_VALUE;
+ int maxY = Integer.MIN_VALUE;
+ boolean hasActiveNode = false;
+ for (int x = 0; x < navigateMap.size(); x++) {
+ List<NavigateNode> row = navigateMap.get(x);
+ if (row == null) {
+ continue;
+ }
+ for (int y = 0; y < row.size(); y++) {
+ NavigateNode node = row.get(y);
+ if (node == null || node.getValue() == MapNodeType.DISABLE.id) {
+ continue;
+ }
+ hasActiveNode = true;
+ minX = Math.min(minX, x);
+ maxX = Math.max(maxX, x);
+ minY = Math.min(minY, y);
+ maxY = Math.max(maxY, y);
+ }
+ }
+
+ if (!hasActiveNode) {
+ return navigateMap;
+ }
+
+ List<List<NavigateNode>> croppedMap = new ArrayList<>();
+ for (int x = minX; x <= maxX; x++) {
+ List<NavigateNode> sourceRow = navigateMap.get(x);
+ List<NavigateNode> croppedRow = new ArrayList<>();
+ for (int y = minY; y <= maxY; y++) {
+ NavigateNode sourceNode = sourceRow.get(y);
+ NavigateNode targetNode = new NavigateNode(x - minX, y - minY);
+ targetNode.setValue(sourceNode.getValue());
+ targetNode.setNodeType(sourceNode.getNodeType());
+ targetNode.setNodeValue(sourceNode.getNodeValue());
+ targetNode.setDirectionList(sourceNode.getDirectionList() == null
+ ? null
+ : new ArrayList<>(sourceNode.getDirectionList()));
+ croppedRow.add(targetNode);
+ }
+ croppedMap.add(croppedRow);
+ }
+ return croppedMap;
}
public NavigateNode astarSearchJava(List<List<NavigateNode>> map, NavigateNode start, NavigateNode end) {
@@ -182,6 +341,18 @@
int maxPaths, // 鏈�澶ц繑鍥炴潯鏁�. 寤鸿锛�100/500/2000锛�<=0 琛ㄧず涓嶉檺鍒讹紙涓嶅缓璁級
int maxCost // 鏈�澶ф�讳唬浠�(鍚嫄鐐规儵缃�). <=0 琛ㄧず涓嶉檺鍒�
) {
+ return allSimplePaths(map, start, end, maxDepth, maxPaths, maxCost, Collections.emptyList());
+ }
+
+ public List<List<NavigateNode>> allSimplePaths(
+ List<List<NavigateNode>> map,
+ NavigateNode start,
+ NavigateNode end,
+ int maxDepth,
+ int maxPaths,
+ int maxCost,
+ List<Integer> guideStationIds
+ ) {
List<List<NavigateNode>> results = new ArrayList<>();
if (map == null || map.isEmpty() || map.get(0).isEmpty()) return results;
if (start == null || end == null) return results;
@@ -196,13 +367,16 @@
path.add(start);
AtomicInteger pathCount = new AtomicInteger(0);
+ Map<Integer, NavigateNode> guideNodeMap = buildGuideNodeMap(map, guideStationIds);
dfsAllSimplePaths(map, start, end,
visited, path, results,
0, // depth
0, // cost
maxDepth, maxPaths, maxCost,
- pathCount
+ pathCount,
+ guideStationIds,
+ guideNodeMap
);
return results;
@@ -223,7 +397,9 @@
int maxDepth,
int maxPaths,
int maxCost,
- AtomicInteger pathCount
+ AtomicInteger pathCount,
+ List<Integer> guideStationIds,
+ Map<Integer, NavigateNode> guideNodeMap
) {
// 闃茬垎锛氭潯鏁伴檺鍒�
if (maxPaths > 0 && pathCount.get() >= maxPaths) return;
@@ -241,6 +417,7 @@
// 鎵╁睍閭诲眳锛堜弗鏍煎鐢ㄤ綘鑷繁鐨勫彲琛岃蛋鏂瑰悜瑙勫垯锛�
ArrayList<NavigateNode> neighbors = extend_current_node(map, current);
if (neighbors == null || neighbors.isEmpty()) return;
+ neighbors = sortNeighborsByGuide(current, path, neighbors, guideStationIds, guideNodeMap);
for (NavigateNode next : neighbors) {
// 闃茬垎锛氭潯鏁伴檺鍒�
@@ -270,7 +447,9 @@
depth + 1,
newCost,
maxDepth, maxPaths, maxCost,
- pathCount
+ pathCount,
+ guideStationIds,
+ guideNodeMap
);
// 鍥炴函
@@ -281,6 +460,116 @@
private String keyOf(NavigateNode n) {
return n.getX() + "_" + n.getY();
+ }
+
+ private Map<Integer, NavigateNode> buildGuideNodeMap(List<List<NavigateNode>> map, List<Integer> guideStationIds) {
+ Map<Integer, NavigateNode> guideNodeMap = new HashMap<>();
+ if (map == null || map.isEmpty() || guideStationIds == null || guideStationIds.isEmpty()) {
+ return guideNodeMap;
+ }
+ for (Integer stationId : guideStationIds) {
+ if (stationId == null || guideNodeMap.containsKey(stationId)) {
+ continue;
+ }
+ NavigateNode stationNode = findStationNavigateNode(map, stationId);
+ if (stationNode != null) {
+ guideNodeMap.put(stationId, stationNode);
+ }
+ }
+ return guideNodeMap;
+ }
+
+ private ArrayList<NavigateNode> sortNeighborsByGuide(NavigateNode current,
+ LinkedList<NavigateNode> path,
+ ArrayList<NavigateNode> neighbors,
+ List<Integer> guideStationIds,
+ Map<Integer, NavigateNode> guideNodeMap) {
+ if (current == null || neighbors == null || neighbors.size() <= 1
+ || guideStationIds == null || guideStationIds.isEmpty()
+ || guideNodeMap == null || guideNodeMap.isEmpty()) {
+ return neighbors;
+ }
+
+ Integer nextGuideStationId = resolveNextGuideStationId(path, guideStationIds);
+ if (nextGuideStationId == null) {
+ return neighbors;
+ }
+ NavigateNode guideTargetNode = guideNodeMap.get(nextGuideStationId);
+ if (guideTargetNode == null) {
+ return neighbors;
+ }
+
+ neighbors.sort((left, right) -> compareGuideNeighbor(current, left, right, nextGuideStationId, guideTargetNode));
+ return neighbors;
+ }
+
+ private Integer resolveNextGuideStationId(LinkedList<NavigateNode> path, List<Integer> guideStationIds) {
+ if (path == null || path.isEmpty() || guideStationIds == null || guideStationIds.isEmpty()) {
+ return null;
+ }
+
+ int cursor = 0;
+ Set<Integer> seen = new HashSet<>();
+ for (NavigateNode node : path) {
+ Integer stationId = extractStationId(node);
+ if (stationId == null || !seen.add(stationId)) {
+ continue;
+ }
+ if (cursor < guideStationIds.size() && stationId.equals(guideStationIds.get(cursor))) {
+ cursor++;
+ }
+ }
+ if (cursor >= guideStationIds.size()) {
+ return null;
+ }
+ return guideStationIds.get(cursor);
+ }
+
+ private int compareGuideNeighbor(NavigateNode current,
+ NavigateNode left,
+ NavigateNode right,
+ Integer nextGuideStationId,
+ NavigateNode guideTargetNode) {
+ int leftDirect = isGuideStation(left, nextGuideStationId) ? 0 : 1;
+ int rightDirect = isGuideStation(right, nextGuideStationId) ? 0 : 1;
+ if (leftDirect != rightDirect) {
+ return Integer.compare(leftDirect, rightDirect);
+ }
+
+ int leftDistance = calcNodeCost(left, guideTargetNode);
+ int rightDistance = calcNodeCost(right, guideTargetNode);
+ if (leftDistance != rightDistance) {
+ return Integer.compare(leftDistance, rightDistance);
+ }
+
+ int leftTurnCost = calcNodeExtraCost(current, left, guideTargetNode);
+ int rightTurnCost = calcNodeExtraCost(current, right, guideTargetNode);
+ if (leftTurnCost != rightTurnCost) {
+ return Integer.compare(leftTurnCost, rightTurnCost);
+ }
+
+ return 0;
+ }
+
+ private boolean isGuideStation(NavigateNode node, Integer stationId) {
+ Integer nodeStationId = extractStationId(node);
+ return nodeStationId != null && nodeStationId.equals(stationId);
+ }
+
+ private Integer extractStationId(NavigateNode node) {
+ JSONObject valueObj = parseNodeValue(node == null ? null : node.getNodeValue());
+ return valueObj == null ? null : valueObj.getInteger("stationId");
+ }
+
+ private JSONObject parseNodeValue(String nodeValue) {
+ if (nodeValue == null || nodeValue.trim().isEmpty()) {
+ return null;
+ }
+ try {
+ return JSON.parseObject(nodeValue);
+ } catch (Exception ignore) {
+ return null;
+ }
}
public ArrayList<NavigateNode> extend_current_node(List<List<NavigateNode>> map, NavigateNode current_node) {
@@ -301,22 +590,22 @@
for(String direction : directionList) {
if(direction.equals("top")) {
- NavigateNode node = getValidNavigateNode(map, x - 1, y);
+ NavigateNode node = getValidNavigateNode(map, current_node, x - 1, y, direction);
if(node != null) {
neighbour_node.add(node);
}
}else if(direction.equals("bottom")) {
- NavigateNode node = getValidNavigateNode(map, x + 1, y);
+ NavigateNode node = getValidNavigateNode(map, current_node, x + 1, y, direction);
if(node != null) {
neighbour_node.add(node);
}
}else if(direction.equals("left")) {
- NavigateNode node = getValidNavigateNode(map, x, y - 1);
+ NavigateNode node = getValidNavigateNode(map, current_node, x, y - 1, direction);
if(node != null) {
neighbour_node.add(node);
}
}else if(direction.equals("right")) {
- NavigateNode node = getValidNavigateNode(map, x, y + 1);
+ NavigateNode node = getValidNavigateNode(map, current_node, x, y + 1, direction);
if(node != null) {
neighbour_node.add(node);
}
@@ -324,6 +613,22 @@
}
return neighbour_node;
+ }
+
+ /**
+ * 閭绘帴鐐规牎楠岋細鍙揪 + 鏂瑰悜涓�鑷达紙褰撳墠鑺傜偣涓庝笅涓�鑺傜偣瀵规湰娆¤璧版柟鍚戜竴鑷达級
+ */
+ public NavigateNode getValidNavigateNode(List<List<NavigateNode>> map, NavigateNode currentNode, int x, int y, String moveDirection) {
+ NavigateNode node = getValidNavigateNode(map, x, y);
+ if (node == null) {
+ return null;
+ }
+
+ if (!isDirectionConsistent(currentNode, node, moveDirection)) {
+ return null;
+ }
+
+ return node;
}
public NavigateNode getValidNavigateNode(List<List<NavigateNode>> map, int x, int y) {
@@ -340,19 +645,80 @@
return node;
}
+ private boolean isDirectionConsistent(NavigateNode currentNode, NavigateNode nextNode, String moveDirection) {
+ if (currentNode == null || nextNode == null) {
+ return false;
+ }
+
+ if (moveDirection == null) {
+ return false;
+ }
+
+ List<String> currentDirectionList = currentNode.getDirectionList();
+ List<String> nextDirectionList = nextNode.getDirectionList();
+ if (currentDirectionList == null || nextDirectionList == null) {
+ return false;
+ }
+
+ // 褰撳墠鑺傜偣鍏佽鍚� moveDirection 鍑哄彂锛屼笖涓嬩竴鑺傜偣鍦ㄨ鏂瑰悜涓婁繚鎸佷竴鑷达紝鎵嶅厑璁搁�氳
+ return currentDirectionList.contains(moveDirection) && nextDirectionList.contains(moveDirection);
+ }
+
public NavigateNode findStationNavigateNode(List<List<NavigateNode>> map, int stationId) {
+ NavigateNode bestNode = null;
+ int bestExternalConnectionCount = -1;
+ int bestNeighborCount = -1;
for(int x = 0; x < map.size(); x++) {
for(int y = 0; y < map.get(0).size(); y++) {
NavigateNode node = map.get(x).get(y);
- if("devp".equals(node.getNodeType())) {
- JSONObject valueObj = JSON.parseObject(node.getNodeValue());
- if(valueObj.getInteger("stationId") == stationId) {
- return node;
- }
+ Integer currentStationId = extractStationId(node);
+ if (currentStationId == null || currentStationId != stationId) {
+ continue;
+ }
+ ArrayList<NavigateNode> neighbors = extend_current_node(map, node);
+ int externalConnectionCount = countExternalConnectionCount(stationId, neighbors);
+ int neighborCount = neighbors == null ? 0 : neighbors.size();
+ if (externalConnectionCount > bestExternalConnectionCount
+ || (externalConnectionCount == bestExternalConnectionCount && neighborCount > bestNeighborCount)) {
+ bestNode = node;
+ bestExternalConnectionCount = externalConnectionCount;
+ bestNeighborCount = neighborCount;
}
}
}
- return null;
+ return bestNode;
+ }
+
+ private int countExternalConnectionCount(Integer currentStationId, List<NavigateNode> neighbors) {
+ Set<Integer> connectedStationIdSet = new LinkedHashSet<>();
+ if (neighbors == null || neighbors.isEmpty()) {
+ return 0;
+ }
+ for (NavigateNode neighbor : neighbors) {
+ connectedStationIdSet.addAll(resolveAdjacentStationIds(currentStationId, neighbor));
+ }
+ return connectedStationIdSet.size();
+ }
+
+ private Set<Integer> resolveAdjacentStationIds(Integer currentStationId, NavigateNode node) {
+ Set<Integer> stationIdSet = new LinkedHashSet<>();
+ JSONObject valueObj = parseNodeValue(node == null ? null : node.getNodeValue());
+ if (valueObj == null) {
+ return stationIdSet;
+ }
+ Integer directStationId = valueObj.getInteger("stationId");
+ if (directStationId != null && !directStationId.equals(currentStationId)) {
+ stationIdSet.add(directStationId);
+ }
+ if (valueObj.getJSONArray("bridgeStationIds") == null) {
+ return stationIdSet;
+ }
+ for (Integer bridgeStationId : valueObj.getJSONArray("bridgeStationIds").toJavaList(Integer.class)) {
+ if (bridgeStationId != null && !bridgeStationId.equals(currentStationId)) {
+ stationIdSet.add(bridgeStationId);
+ }
+ }
+ return stationIdSet;
}
public NavigateNode findTrackSiteNoNavigateNode(List<List<NavigateNode>> map, int trackSiteNo) {
@@ -401,4 +767,13 @@
//------------------A*鍚彂鍑芥暟-end------------------//
+ private static class CachedNavigateMap {
+ private final long cacheAtMs;
+ private final List<List<NavigateNode>> navigateMap;
+
+ private CachedNavigateMap(long cacheAtMs, List<List<NavigateNode>> navigateMap) {
+ this.cacheAtMs = cacheAtMs;
+ this.navigateMap = navigateMap;
+ }
+ }
}
--
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