From 9f13307b0ad0d7a0bac431773ec073cb93b170d4 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 02 四月 2026 18:50:23 +0800
Subject: [PATCH] #预调度堆垛机2
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 840 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 799 insertions(+), 41 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 6219dbc..211f27c 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -7,8 +7,10 @@
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
+import java.util.PriorityQueue;
import java.util.Set;
+import com.zy.asrs.domain.path.StationPathCalcMode;
import com.zy.asrs.domain.path.StationPathProfileConfig;
import com.zy.asrs.domain.path.StationPathResolvedPolicy;
import com.zy.asrs.domain.path.StationPathRuleConfig;
@@ -32,6 +34,7 @@
import org.springframework.stereotype.Component;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.SpringUtils;
@@ -72,22 +75,28 @@
@Autowired
private StationTaskTraceRegistry stationTaskTraceRegistry;
- public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
- return calcByStationId(startStationId, endStationId, null, false);
+ public List<NavigateNode> calcOptimalPathByStationId(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo,
+ Double pathLenFactor) {
+ return calcPathByStationId(startStationId, endStationId, currentTaskNo, pathLenFactor, StationPathCalcMode.OPTIMAL);
}
- public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId, Integer currentTaskNo) {
- return calcByStationId(startStationId, endStationId, currentTaskNo, false);
+ public List<NavigateNode> calcReachablePathByStationId(Integer startStationId, Integer endStationId) {
+ return calcPathByStationId(startStationId, endStationId, null, null, StationPathCalcMode.REACHABILITY);
}
- public synchronized List<NavigateNode> calcReachablePathByStationId(Integer startStationId, Integer endStationId) {
- return calcByStationId(startStationId, endStationId, null, true);
- }
-
- public synchronized List<List<NavigateNode>> calcCandidatePathByStationId(Integer startStationId,
- Integer endStationId,
- Integer currentTaskNo) {
- StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
+ public List<List<NavigateNode>> calcCandidatePathByStationId(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo,
+ Double pathLenFactor) {
+ StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
+ StationPathSearchContext context = buildStationPathSearchContext(
+ startStationId,
+ endStationId,
+ resolvedPolicy,
+ StationPathCalcMode.REROUTE
+ );
if (context.allList.isEmpty()) {
return new ArrayList<>();
}
@@ -96,27 +105,62 @@
context.allList,
context.resolvedPolicy,
currentTaskNo,
+ pathLenFactor,
startStationId,
endStationId
);
return normalizeCandidatePaths(orderedPathList);
}
- private synchronized List<NavigateNode> calcByStationId(Integer startStationId,
- Integer endStationId,
- Integer currentTaskNo,
- boolean reachabilityOnly) {
- StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
+ public Map<Integer, Set<Integer>> loadUndirectedStationGraphSnapshot() {
+ Map<Integer, Set<Integer>> graph = loadUndirectedStationGraph();
+ Map<Integer, Set<Integer>> snapshot = new HashMap<>();
+ for (Map.Entry<Integer, Set<Integer>> entry : graph.entrySet()) {
+ Integer stationId = entry.getKey();
+ if (stationId == null) {
+ continue;
+ }
+ snapshot.put(stationId, new LinkedHashSet<>(entry.getValue() == null ? Collections.emptySet() : entry.getValue()));
+ }
+ return snapshot;
+ }
+
+ private List<NavigateNode> calcPathByStationId(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo,
+ Double pathLenFactor,
+ StationPathCalcMode calcMode) {
+ StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
+ if (calcMode != StationPathCalcMode.REROUTE) {
+ List<NavigateNode> directPath = findStationDirectPath(
+ startStationId,
+ endStationId,
+ currentTaskNo,
+ pathLenFactor,
+ calcMode,
+ resolvedPolicy
+ );
+ if (!directPath.isEmpty()) {
+ return normalizeStationPath(directPath);
+ }
+ }
+
+ StationPathSearchContext context = buildStationPathSearchContext(
+ startStationId,
+ endStationId,
+ resolvedPolicy,
+ calcMode
+ );
if (context.allList.isEmpty()) {
return new ArrayList<>();
}
- List<NavigateNode> list = reachabilityOnly
+ List<NavigateNode> list = calcMode == StationPathCalcMode.REACHABILITY
? findStationReachablePath(context.allList, context.resolvedPolicy, startStationId, endStationId)
- : findStationBestPathTwoStage(context.allList, context.resolvedPolicy, currentTaskNo, startStationId, endStationId);
+ : findStationBestPathTwoStage(context.allList, context.resolvedPolicy, currentTaskNo, pathLenFactor, startStationId, endStationId);
return normalizeStationPath(list);
}
- public synchronized List<NavigateNode> calcByTrackSiteNo(int lev, Integer startTrackSiteNo, Integer endTrackSiteNo) {
+ public List<NavigateNode> calcByTrackSiteNo(int lev, Integer startTrackSiteNo, Integer endTrackSiteNo) {
NavigateSolution navigateSolution = new NavigateSolution();
List<List<NavigateNode>> rgvTrackMap = navigateSolution.getRgvTrackMap(lev);
@@ -186,7 +230,7 @@
return fitlerList;
}
- public synchronized List<NavigateNode> findLiftStationList(int lev) {
+ public List<NavigateNode> findLiftStationList(int lev) {
NavigateSolution navigateSolution = new NavigateSolution();
List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
@@ -227,6 +271,502 @@
return new StationPathResolvedPolicy();
}
+ private List<NavigateNode> findStationDirectPath(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo,
+ Double pathLenFactor,
+ StationPathCalcMode calcMode,
+ StationPathResolvedPolicy resolvedPolicy) {
+ if (!supportsDirectPathMode(calcMode, resolvedPolicy, pathLenFactor)) {
+ return new ArrayList<>();
+ }
+
+ DirectStationPathContext context = buildDirectStationPathContext(
+ startStationId,
+ endStationId,
+ currentTaskNo,
+ calcMode,
+ resolvedPolicy
+ );
+ if (context == null) {
+ return new ArrayList<>();
+ }
+
+ long startTime = System.currentTimeMillis();
+ News.info("[WCS Debug] 绔欑偣璺緞蹇�熻绠楀紑濮�,startStationId={},endStationId={},mode={}",
+ startStationId,
+ endStationId,
+ calcMode.name());
+
+ DirectPathSearchResult searchResult = searchDirectPathWithFallback(
+ context,
+ true,
+ calcMode == StationPathCalcMode.OPTIMAL
+ );
+ if (searchResult.path.isEmpty() && hasWaypoint(context.ruleConfig) && !strictWaypoint(context.ruleConfig)) {
+ searchResult = searchDirectPathWithFallback(
+ context,
+ false,
+ calcMode == StationPathCalcMode.OPTIMAL
+ );
+ if (!searchResult.path.isEmpty()) {
+ News.info("[WCS Debug] 绔欑偣璺緞蹇�熻绠楀凡闄嶇骇锛屽拷鐣ュ叧閿�旂粡鐐圭害鏉熷悗閲嶈瘯");
+ }
+ }
+ if (searchResult.path.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ if (!isDirectPathValid(
+ searchResult.path,
+ context,
+ searchResult.includeWaypoint,
+ searchResult.includeSoftPreference)) {
+ return new ArrayList<>();
+ }
+
+ News.info("[WCS Debug] 绔欑偣璺緞蹇�熻绠楀畬鎴愶紝鑰楁椂锛歿}ms,startStationId={},endStationId={},mode={}",
+ System.currentTimeMillis() - startTime,
+ startStationId,
+ endStationId,
+ calcMode.name());
+ return searchResult.path;
+ }
+
+ private DirectPathSearchResult searchDirectPathWithFallback(DirectStationPathContext context,
+ boolean includeWaypoint,
+ boolean includeSoftPreference) {
+ List<NavigateNode> path = searchDirectPath(context, includeWaypoint, includeSoftPreference);
+ if (!path.isEmpty()) {
+ return new DirectPathSearchResult(path, includeWaypoint, includeSoftPreference);
+ }
+ if (includeSoftPreference && hasSoftPreference(context.ruleConfig) && allowSoftDegrade(context.ruleConfig)) {
+ List<NavigateNode> degradedPath = searchDirectPath(context, includeWaypoint, false);
+ if (!degradedPath.isEmpty()) {
+ News.info("[WCS Debug] 绔欑偣璺緞蹇�熻绠楀凡闄嶇骇锛屽拷鐣ヨ蒋鍋忓ソ绾︽潫鍚庨噸璇�");
+ }
+ return new DirectPathSearchResult(degradedPath, includeWaypoint, false);
+ }
+ return DirectPathSearchResult.empty(includeWaypoint, includeSoftPreference);
+ }
+
+ private List<NavigateNode> searchDirectPath(DirectStationPathContext context,
+ boolean includeWaypoint,
+ boolean includeSoftPreference) {
+ List<Integer> guideStationSequence = buildDirectGuideStationSequence(
+ context.startStationId,
+ context.endStationId,
+ context.ruleConfig,
+ includeWaypoint,
+ includeSoftPreference
+ );
+ if (guideStationSequence.isEmpty()) {
+ guideStationSequence = new ArrayList<>();
+ guideStationSequence.add(context.startStationId);
+ guideStationSequence.add(context.endStationId);
+ }
+
+ List<NavigateNode> result = new ArrayList<>();
+ for (int i = 1; i < guideStationSequence.size(); i++) {
+ Integer segmentStartStationId = guideStationSequence.get(i - 1);
+ Integer segmentEndStationId = guideStationSequence.get(i);
+ if (segmentStartStationId == null || segmentEndStationId == null) {
+ return new ArrayList<>();
+ }
+
+ NavigateNode segmentStartNode = context.navigateSolution.findStationNavigateNode(context.stationMap, segmentStartStationId);
+ NavigateNode segmentEndNode = context.navigateSolution.findStationNavigateNode(context.stationMap, segmentEndStationId);
+ if (segmentStartNode == null || segmentEndNode == null) {
+ return new ArrayList<>();
+ }
+
+ List<NavigateNode> segmentPath = searchDirectPathSegment(
+ context,
+ segmentStartNode,
+ segmentEndNode,
+ includeSoftPreference
+ );
+ if (segmentPath.isEmpty()) {
+ return new ArrayList<>();
+ }
+ mergeSegmentPath(result, segmentPath);
+ }
+ return result;
+ }
+
+ private List<NavigateNode> searchDirectPathSegment(DirectStationPathContext context,
+ NavigateNode startNode,
+ NavigateNode endNode,
+ boolean includeSoftPreference) {
+ PriorityQueue<DirectPathState> openQueue = new PriorityQueue<>((left, right) -> {
+ int compare = Double.compare(left.fScore, right.fScore);
+ if (compare != 0) {
+ return compare;
+ }
+ return Double.compare(left.gScore, right.gScore);
+ });
+ Map<String, Double> bestScoreMap = new HashMap<>();
+ DirectPathState startState = new DirectPathState(startNode, null, 0.0d, calcHeuristicScore(startNode, endNode));
+ openQueue.offer(startState);
+ bestScoreMap.put(buildDirectStateKey(startState), 0.0d);
+
+ while (!openQueue.isEmpty()) {
+ DirectPathState currentState = openQueue.poll();
+ if (sameCoordinate(currentState.node, endNode)) {
+ return buildDirectPath(currentState);
+ }
+
+ List<NavigateNode> nextNodeList = context.navigateSolution.extend_current_node(context.stationMap, currentState.node);
+ for (NavigateNode nextNode : safeList(nextNodeList)) {
+ if (!isDirectTransitionAllowed(context, currentState.node, nextNode, endNode)) {
+ continue;
+ }
+
+ double stepCost = calcDirectStepCost(
+ context,
+ currentState.parent == null ? null : currentState.parent.node,
+ currentState.node,
+ nextNode,
+ endNode,
+ includeSoftPreference
+ );
+ double nextGScore = currentState.gScore + stepCost;
+ DirectPathState nextState = new DirectPathState(
+ nextNode,
+ currentState,
+ nextGScore,
+ nextGScore + calcHeuristicScore(nextNode, endNode)
+ );
+ String stateKey = buildDirectStateKey(nextState);
+ Double recordedScore = bestScoreMap.get(stateKey);
+ if (recordedScore != null && recordedScore <= nextGScore) {
+ continue;
+ }
+ bestScoreMap.put(stateKey, nextGScore);
+ openQueue.offer(nextState);
+ }
+ }
+ return new ArrayList<>();
+ }
+
+ private boolean isDirectTransitionAllowed(DirectStationPathContext context,
+ NavigateNode currentNode,
+ NavigateNode nextNode,
+ NavigateNode endNode) {
+ if (nextNode == null) {
+ return false;
+ }
+ Integer nextStationId = extractStationId(nextNode);
+ Integer currentStationId = extractStationId(currentNode);
+ Integer endStationId = extractStationId(endNode);
+
+ if (nextStationId != null && !nextStationId.equals(endStationId)) {
+ if (context.forbidStationIdSet.contains(nextStationId)) {
+ return false;
+ }
+ StationProtocol protocol = context.statusMap.get(nextStationId);
+ if (protocol != null && !protocol.isAutoing()) {
+ return false;
+ }
+ if (context.globalPolicy.forceSkipPassOtherOutStation
+ && context.outStationIdSet.contains(nextStationId)
+ && !nextStationId.equals(context.startStationId)
+ && !nextStationId.equals(context.endStationId)) {
+ return false;
+ }
+ }
+
+ if (currentStationId != null && nextStationId != null) {
+ String edgeKey = currentStationId + "->" + nextStationId;
+ if (context.forbidEdgeSet.contains(edgeKey)) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ private double calcDirectStepCost(DirectStationPathContext context,
+ NavigateNode prevNode,
+ NavigateNode currentNode,
+ NavigateNode nextNode,
+ NavigateNode endNode,
+ boolean includeSoftPreference) {
+ double stepCost = safeDouble(context.profileConfig.getS1LenWeight(), 1.0d) * context.globalPolicy.lenWeightFactor;
+ stepCost += safeDouble(context.profileConfig.getS1TurnWeight(), 3.0d)
+ * calcDirectTurnPenalty(prevNode, currentNode, nextNode, endNode);
+ stepCost += safeDouble(context.profileConfig.getS1LiftWeight(), 8.0d) * calcLiftTransferPenalty(nextNode);
+
+ if (context.calcMode == StationPathCalcMode.REACHABILITY) {
+ return Math.max(stepCost, 1.0d);
+ }
+
+ Integer stationId = extractStationId(nextNode);
+ if (stationId != null) {
+ double congWeightFactor = context.globalPolicy.congWeightFactor;
+ stepCost += safeDouble(context.profileConfig.getS2BusyWeight(), 2.0d)
+ * congWeightFactor
+ * context.trafficSnapshot.congestionScoreMap.getOrDefault(stationId, 0.0d);
+ stepCost += safeDouble(context.profileConfig.getS2QueueWeight(), 2.5d)
+ * context.trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0);
+ stepCost += safeDouble(context.profileConfig.getS2WaitWeight(), 1.5d)
+ * (context.trafficSnapshot.estimatedWaitSecondsMap.getOrDefault(stationId, 0.0d) / 60.0d);
+ StationProtocol protocol = context.statusMap.get(stationId);
+ if (protocol != null && protocol.isRunBlock()) {
+ stepCost += safeDouble(context.profileConfig.getS2RunBlockWeight(), 10.0d);
+ }
+ stepCost += safeDouble(context.profileConfig.getS2LoopLoadWeight(), 12.0d)
+ * context.stationLoopLoadMap.getOrDefault(stationId, 0.0d);
+ if (context.outStationIdSet.contains(stationId)
+ && !stationId.equals(context.startStationId)
+ && !stationId.equals(context.endStationId)) {
+ stepCost += context.globalPolicy.passOtherOutStationPenaltyWeight;
+ }
+
+ if (includeSoftPreference && context.softReferenceStationSet.contains(stationId)) {
+ stepCost -= 0.25d;
+ } else if (includeSoftPreference
+ && stationId != null
+ && !stationId.equals(context.startStationId)
+ && !stationId.equals(context.endStationId)
+ && !context.softReferenceStationSet.isEmpty()) {
+ double softDeviationWeight = safeDouble(context.profileConfig.getS1SoftDeviationWeight(), 4.0d);
+ if (context.ruleConfig.getSoft() != null && context.ruleConfig.getSoft().getDeviationWeight() != null) {
+ softDeviationWeight = context.ruleConfig.getSoft().getDeviationWeight();
+ }
+ stepCost += softDeviationWeight;
+ }
+ }
+
+ return Math.max(stepCost, 1.0d);
+ }
+
+ private int calcDirectTurnPenalty(NavigateNode prevNode,
+ NavigateNode currentNode,
+ NavigateNode nextNode,
+ NavigateNode endNode) {
+ if (prevNode == null || currentNode == null || nextNode == null) {
+ return 0;
+ }
+ if (nextNode.getX() == prevNode.getX() || nextNode.getY() == prevNode.getY()) {
+ return 0;
+ }
+ return (endNode != null && (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY())) ? 1 : 1;
+ }
+
+ private int calcLiftTransferPenalty(NavigateNode node) {
+ if (node == null || node.getNodeValue() == null) {
+ return 0;
+ }
+ try {
+ JSONObject valueObject = JSON.parseObject(node.getNodeValue());
+ if (valueObject == null) {
+ return 0;
+ }
+ Object isLiftTransfer = valueObject.get("isLiftTransfer");
+ if (isLiftTransfer == null) {
+ return 0;
+ }
+ String text = String.valueOf(isLiftTransfer);
+ return ("1".equals(text) || "true".equalsIgnoreCase(text)) ? 1 : 0;
+ } catch (Exception ignore) {
+ return 0;
+ }
+ }
+
+ private double calcHeuristicScore(NavigateNode currentNode, NavigateNode endNode) {
+ if (currentNode == null || endNode == null) {
+ return 0.0d;
+ }
+ return Math.abs(endNode.getX() - currentNode.getX()) + Math.abs(endNode.getY() - currentNode.getY());
+ }
+
+ private boolean sameCoordinate(NavigateNode left, NavigateNode right) {
+ return left != null
+ && right != null
+ && left.getX() == right.getX()
+ && left.getY() == right.getY();
+ }
+
+ private String buildDirectStateKey(DirectPathState state) {
+ if (state == null || state.node == null) {
+ return "";
+ }
+ String currentKey = state.node.getX() + "_" + state.node.getY();
+ if (state.parent == null || state.parent.node == null) {
+ return currentKey + "|S";
+ }
+ return currentKey + "|" + state.parent.node.getX() + "_" + state.parent.node.getY();
+ }
+
+ private List<NavigateNode> buildDirectPath(DirectPathState endState) {
+ List<NavigateNode> path = new ArrayList<>();
+ DirectPathState cursor = endState;
+ while (cursor != null) {
+ NavigateNode clonedNode = cursor.node == null ? null : cursor.node.clone();
+ if (clonedNode != null) {
+ path.add(clonedNode);
+ }
+ cursor = cursor.parent;
+ }
+ Collections.reverse(path);
+ return path;
+ }
+
+ private void mergeSegmentPath(List<NavigateNode> target, List<NavigateNode> segmentPath) {
+ if (target == null || segmentPath == null || segmentPath.isEmpty()) {
+ return;
+ }
+ if (target.isEmpty()) {
+ target.addAll(segmentPath);
+ return;
+ }
+ for (int i = 0; i < segmentPath.size(); i++) {
+ if (i == 0 && sameCoordinate(target.get(target.size() - 1), segmentPath.get(i))) {
+ continue;
+ }
+ target.add(segmentPath.get(i));
+ }
+ }
+
+ private List<Integer> buildDirectGuideStationSequence(Integer startStationId,
+ Integer endStationId,
+ StationPathRuleConfig ruleConfig,
+ boolean includeWaypoint,
+ boolean includeSoftPreference) {
+ List<Integer> sequence = new ArrayList<>();
+ appendGuideStation(sequence, startStationId);
+ if (ruleConfig == null) {
+ appendGuideStation(sequence, endStationId);
+ return sequence;
+ }
+
+ if (includeSoftPreference) {
+ List<Integer> preferredPath = safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
+ if (!preferredPath.isEmpty() && startStationId.equals(preferredPath.get(0))) {
+ for (int i = 1; i < preferredPath.size(); i++) {
+ appendGuideStation(sequence, preferredPath.get(i));
+ }
+ if (sequence.get(sequence.size() - 1).equals(endStationId)) {
+ return sequence;
+ }
+ sequence.clear();
+ appendGuideStation(sequence, startStationId);
+ }
+ }
+
+ if (includeWaypoint) {
+ for (Integer stationId : safeList(ruleConfig.getWaypoint() == null ? null : ruleConfig.getWaypoint().getStations())) {
+ appendGuideStation(sequence, stationId);
+ }
+ }
+ if (includeSoftPreference) {
+ for (Integer stationId : safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getKeyStations())) {
+ appendGuideStation(sequence, stationId);
+ }
+ }
+ appendGuideStation(sequence, endStationId);
+ return sequence;
+ }
+
+ private boolean isDirectPathValid(List<NavigateNode> path,
+ DirectStationPathContext context,
+ boolean includeWaypoint,
+ boolean includeSoftPreference) {
+ if (path == null || path.isEmpty()) {
+ return false;
+ }
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (!matchHardConstraint(stationIdList, context.ruleConfig.getHard())) {
+ return false;
+ }
+ if (includeWaypoint && !matchWaypointConstraint(stationIdList, context.ruleConfig.getWaypoint())) {
+ return false;
+ }
+ if (includeSoftPreference && !matchSoftConstraint(stationIdList, context.ruleConfig.getSoft())) {
+ return false;
+ }
+ if (!isLoopMergePathAllowed(
+ path,
+ context.statusMap,
+ context.trafficSnapshot,
+ context.loopMergeGuardContext,
+ Collections.emptySet())) {
+ return false;
+ }
+
+ if (context.globalPolicy.forceSkipPassOtherOutStation
+ && countPassOtherOutStations(path, context.outStationIdSet) > 0) {
+ return false;
+ }
+ return true;
+ }
+
+ private boolean supportsDirectPathMode(StationPathCalcMode calcMode,
+ StationPathResolvedPolicy resolvedPolicy,
+ Double pathLenFactor) {
+ if (calcMode == null || calcMode == StationPathCalcMode.REROUTE) {
+ return false;
+ }
+ if (calcMode == StationPathCalcMode.OPTIMAL && normalizePathLenFactor(pathLenFactor) > 0.0d) {
+ return false;
+ }
+ StationPathRuleConfig ruleConfig = resolvedPolicy == null || resolvedPolicy.getRuleConfig() == null
+ ? new StationPathRuleConfig()
+ : resolvedPolicy.getRuleConfig();
+ return safeList(ruleConfig.getHard() == null ? null : ruleConfig.getHard().getMustPassStations()).isEmpty()
+ && safeList(ruleConfig.getHard() == null ? null : ruleConfig.getHard().getMustPassEdges()).isEmpty();
+ }
+
+ private DirectStationPathContext buildDirectStationPathContext(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo,
+ StationPathCalcMode calcMode,
+ StationPathResolvedPolicy resolvedPolicy) {
+ BasStation startStation = basStationService.getById(startStationId);
+ if (startStation == null) {
+ throw new CoolException("鏈壘鍒拌 " + startStationId + "璧风偣 瀵瑰簲鐨勭珯鐐规暟鎹�");
+ }
+
+ NavigateSolution navigateSolution = new NavigateSolution();
+ List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(startStation.getStationLev());
+ NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
+ NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
+ if (startNode == null || endNode == null) {
+ throw new CoolException("鏈壘鍒拌 " + startStationId + "璧风偣 鎴� " + endStationId + "缁堢偣 瀵瑰簲鐨勮妭鐐�");
+ }
+
+ DirectStationPathContext context = new DirectStationPathContext();
+ context.calcMode = calcMode;
+ context.startStationId = startStationId;
+ context.endStationId = endStationId;
+ context.navigateSolution = navigateSolution;
+ context.stationMap = stationMap;
+ context.startNode = startNode;
+ context.endNode = endNode;
+ context.resolvedPolicy = resolvedPolicy == null ? new StationPathResolvedPolicy() : resolvedPolicy;
+ context.ruleConfig = context.resolvedPolicy.getRuleConfig() == null
+ ? new StationPathRuleConfig()
+ : context.resolvedPolicy.getRuleConfig();
+ context.profileConfig = context.resolvedPolicy.getProfileConfig() == null
+ ? StationPathProfileConfig.defaultConfig()
+ : context.resolvedPolicy.getProfileConfig();
+ context.globalPolicy = loadPathGlobalPolicy(context.profileConfig);
+ context.statusMap = loadStationStatusMap();
+ context.stationLoopLoadMap = loadStationLoopLoadMap();
+ context.trafficSnapshot = loadStationTrafficSnapshot(context.statusMap, currentTaskNo);
+ context.loopMergeGuardContext = loadLoopMergeGuardContext();
+ context.outStationIdSet = loadAllOutStationIdSet();
+ context.forbidStationIdSet = new HashSet<>(safeList(context.ruleConfig.getHard() == null ? null : context.ruleConfig.getHard().getForbidStations()));
+ context.forbidEdgeSet = new HashSet<>();
+ for (String edgeText : safeList(context.ruleConfig.getHard() == null ? null : context.ruleConfig.getHard().getForbidEdges())) {
+ if (notBlank(edgeText)) {
+ context.forbidEdgeSet.add(edgeText.replace(" ", ""));
+ }
+ }
+ context.softReferenceStationSet = new HashSet<>(getSoftReferencePath(context.ruleConfig.getSoft()));
+ return context;
+ }
+
private List<NavigateNode> findStationReachablePath(List<List<NavigateNode>> allList,
StationPathResolvedPolicy resolvedPolicy,
Integer startStationId,
@@ -261,9 +801,10 @@
private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
StationPathResolvedPolicy resolvedPolicy,
Integer currentTaskNo,
+ Double pathLenFactor,
Integer startStationId,
Integer endStationId) {
- List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(allList, resolvedPolicy, currentTaskNo, startStationId, endStationId);
+ List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(allList, resolvedPolicy, currentTaskNo, pathLenFactor, startStationId, endStationId);
if (orderedPathList.isEmpty()) {
return new ArrayList<>();
}
@@ -273,6 +814,7 @@
private List<List<NavigateNode>> orderStationPathCandidates(List<List<NavigateNode>> allList,
StationPathResolvedPolicy resolvedPolicy,
Integer currentTaskNo,
+ Double pathLenFactor,
Integer startStationId,
Integer endStationId) {
if (allList == null || allList.isEmpty()) {
@@ -345,7 +887,8 @@
return new ArrayList<>();
}
- metricsList.sort((a, b) -> compareDouble(a.staticCost, b.staticCost, a.turnCount, b.turnCount, a.pathLen, b.pathLen));
+ applyPathLengthPreference(metricsList, profileConfig, globalPolicy, pathLenFactor);
+ metricsList.sort((a, b) -> compareStaticCandidateMetrics(a, b, pathLenFactor));
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);
@@ -368,8 +911,8 @@
primaryMetrics = new ArrayList<>(primaryMetrics.subList(0, topK));
}
- primaryMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
- secondaryMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+ primaryMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));
+ secondaryMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));
List<PathCandidateMetrics> remainingMetrics = new ArrayList<>();
for (PathCandidateMetrics metrics : metricsList) {
@@ -377,7 +920,7 @@
remainingMetrics.add(metrics);
}
}
- remainingMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+ remainingMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));
List<List<NavigateNode>> orderedPathList = new ArrayList<>();
appendCandidatePathList(orderedPathList, primaryMetrics);
@@ -648,9 +1191,9 @@
double congWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.congWeightFactor;
double passOtherOutStationPenaltyWeight = globalPolicy == null ? 0.0d : globalPolicy.passOtherOutStationPenaltyWeight;
- metrics.staticCost =
- safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor * metrics.pathLen
- + safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
+ metrics.baseLengthWeight = safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor;
+ metrics.otherStaticCost =
+ safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
+ safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
+ passOtherOutStationPenaltyWeight * metrics.passOtherOutStationCount
+ softDeviationWeight * metrics.softDeviationCount;
@@ -691,6 +1234,105 @@
int leftLiftCount = countLiftTransferCount(left);
int rightLiftCount = countLiftTransferCount(right);
return compareDouble(leftLen, rightLen, leftTurnCount, rightTurnCount, leftLiftCount, rightLiftCount);
+ }
+
+ private void applyPathLengthPreference(List<PathCandidateMetrics> metricsList,
+ StationPathProfileConfig profileConfig,
+ PathGlobalPolicy globalPolicy,
+ Double pathLenFactor) {
+ if (metricsList == null || metricsList.isEmpty()) {
+ return;
+ }
+ double normalizedFactor = normalizePathLenFactor(pathLenFactor);
+ int minPathLen = Integer.MAX_VALUE;
+ int maxPathLen = Integer.MIN_VALUE;
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (metrics == null) {
+ continue;
+ }
+ minPathLen = Math.min(minPathLen, metrics.pathLen);
+ maxPathLen = Math.max(maxPathLen, metrics.pathLen);
+ }
+ if (minPathLen == Integer.MAX_VALUE || maxPathLen == Integer.MIN_VALUE) {
+ return;
+ }
+ double targetPathLen = normalizedFactor <= 0.0d || maxPathLen <= minPathLen
+ ? minPathLen
+ : minPathLen + normalizedFactor * (maxPathLen - minPathLen);
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (metrics == null) {
+ continue;
+ }
+ metrics.pathLenPreferenceDistance = normalizedFactor <= 0.0d
+ ? metrics.pathLen
+ : Math.abs(metrics.pathLen - targetPathLen);
+ metrics.staticCost = metrics.baseLengthWeight * metrics.pathLenPreferenceDistance + metrics.otherStaticCost;
+ }
+ }
+
+ private int compareStaticCandidateMetrics(PathCandidateMetrics left,
+ PathCandidateMetrics right,
+ Double pathLenFactor) {
+ if (left == right) {
+ return 0;
+ }
+ if (left == null) {
+ return 1;
+ }
+ if (right == null) {
+ return -1;
+ }
+ int result = Double.compare(left.staticCost, right.staticCost);
+ if (result != 0) {
+ return result;
+ }
+ result = Double.compare(left.pathLenPreferenceDistance, right.pathLenPreferenceDistance);
+ if (result != 0) {
+ return result;
+ }
+ result = Integer.compare(left.turnCount, right.turnCount);
+ if (result != 0) {
+ return result;
+ }
+ return comparePathLenTie(left.pathLen, right.pathLen, pathLenFactor);
+ }
+
+ private int compareDynamicCandidateMetrics(PathCandidateMetrics left,
+ PathCandidateMetrics right,
+ Double pathLenFactor) {
+ if (left == right) {
+ return 0;
+ }
+ if (left == null) {
+ return 1;
+ }
+ if (right == null) {
+ return -1;
+ }
+ int result = Double.compare(left.dynamicCost, right.dynamicCost);
+ if (result != 0) {
+ return result;
+ }
+ result = Double.compare(left.pathLenPreferenceDistance, right.pathLenPreferenceDistance);
+ if (result != 0) {
+ return result;
+ }
+ result = comparePathLenTie(left.pathLen, right.pathLen, pathLenFactor);
+ if (result != 0) {
+ return result;
+ }
+ return Integer.compare(left.turnCount, right.turnCount);
+ }
+
+ private int comparePathLenTie(int leftPathLen, int rightPathLen, Double pathLenFactor) {
+ double normalizedFactor = normalizePathLenFactor(pathLenFactor);
+ if (normalizedFactor <= 0.0d) {
+ return Integer.compare(leftPathLen, rightPathLen);
+ }
+ if (normalizedFactor >= 0.5d) {
+ return Integer.compare(rightPathLen, leftPathLen);
+ }
+ return Integer.compare(leftPathLen, rightPathLen);
}
private int countLiftTransferCount(List<NavigateNode> path) {
@@ -1087,18 +1729,46 @@
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;
+ for (Integer nextStationId : resolveConnectedStationIds(stationId, nextNode)) {
+ if (nextStationId == null || stationId.equals(nextStationId)) {
+ continue;
+ }
+ graph.computeIfAbsent(nextStationId, key -> new LinkedHashSet<>());
+ graph.get(stationId).add(nextStationId);
+ graph.get(nextStationId).add(stationId);
}
- graph.computeIfAbsent(nextStationId, key -> new LinkedHashSet<>());
- graph.get(stationId).add(nextStationId);
- graph.get(nextStationId).add(stationId);
}
}
}
}
return graph;
+ }
+
+ private Set<Integer> resolveConnectedStationIds(Integer currentStationId, NavigateNode nextNode) {
+ Set<Integer> stationIdSet = new LinkedHashSet<>();
+ if (nextNode == null || nextNode.getNodeValue() == null) {
+ return stationIdSet;
+ }
+ try {
+ JSONObject value = JSON.parseObject(nextNode.getNodeValue());
+ if (value == null) {
+ return stationIdSet;
+ }
+ Integer directStationId = value.getInteger("stationId");
+ if (directStationId != null && !directStationId.equals(currentStationId)) {
+ stationIdSet.add(directStationId);
+ }
+ JSONArray bridgeStationIds = value.getJSONArray("bridgeStationIds");
+ if (bridgeStationIds != null) {
+ for (Integer bridgeStationId : bridgeStationIds.toJavaList(Integer.class)) {
+ if (bridgeStationId != null && !bridgeStationId.equals(currentStationId)) {
+ stationIdSet.add(bridgeStationId);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ return stationIdSet;
}
private List<Integer> loadStationLevList() {
@@ -1740,11 +2410,27 @@
return value == null ? defaultValue : value;
}
+ private double normalizePathLenFactor(Double pathLenFactor) {
+ if (pathLenFactor == null) {
+ return 0.0d;
+ }
+ if (pathLenFactor < 0.0d) {
+ return 0.0d;
+ }
+ if (pathLenFactor > 1.0d) {
+ return 1.0d;
+ }
+ return pathLenFactor;
+ }
+
private boolean notBlank(String text) {
return text != null && !text.trim().isEmpty();
}
- private StationPathSearchContext buildStationPathSearchContext(Integer startStationId, Integer endStationId) {
+ private StationPathSearchContext buildStationPathSearchContext(Integer startStationId,
+ Integer endStationId,
+ StationPathResolvedPolicy resolvedPolicy,
+ StationPathCalcMode calcMode) {
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�");
@@ -1764,13 +2450,15 @@
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);
+ News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={},mode={}",
+ startStationId,
+ endStationId,
+ calcMode == null ? "" : calcMode.name());
int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
@@ -1793,7 +2481,11 @@
News.info("[WCS Debug] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽瓨鍦ㄩ潪鑷姩绔欑偣,startStationId={},endStationId={}", startStationId, endStationId);
return StationPathSearchContext.empty(resolvedPolicy);
}
- News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
+ News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms,startStationId={},endStationId={},mode={}",
+ System.currentTimeMillis() - startTime,
+ startStationId,
+ endStationId,
+ calcMode == null ? "" : calcMode.name());
return new StationPathSearchContext(allList, resolvedPolicy);
}
@@ -1815,8 +2507,8 @@
}
private List<NavigateNode> normalizeStationPath(List<NavigateNode> path) {
- HashSet<Integer> stationIdSet = new HashSet<>();
List<NavigateNode> filterList = new ArrayList<>();
+ Integer lastStationId = null;
for (NavigateNode navigateNode : safeList(path)) {
if (navigateNode == null) {
continue;
@@ -1831,9 +2523,14 @@
continue;
}
Integer stationId = valueObject.getInteger("stationId");
- if (stationId == null || !stationIdSet.add(stationId)) {
+ if (stationId == null) {
continue;
}
+ // 浠呭帇缂╄繛缁噸澶嶇珯鐐癸紝淇濈暀鐜嚎閲嶇畻鍦烘櫙涓嬪悗缁啀娆＄粡杩囩殑鍚屼竴绔欑偣銆�
+ if (lastStationId != null && lastStationId.equals(stationId)) {
+ continue;
+ }
+ lastStationId = stationId;
NavigateNode clonedNode = navigateNode.clone();
if (clonedNode == null) {
continue;
@@ -1909,6 +2606,64 @@
}
}
+ private static class DirectStationPathContext {
+ private StationPathCalcMode calcMode;
+ private Integer startStationId;
+ private Integer endStationId;
+ private NavigateSolution navigateSolution;
+ private List<List<NavigateNode>> stationMap;
+ private NavigateNode startNode;
+ private NavigateNode endNode;
+ private StationPathResolvedPolicy resolvedPolicy;
+ private StationPathRuleConfig ruleConfig;
+ private StationPathProfileConfig profileConfig;
+ private PathGlobalPolicy globalPolicy;
+ private Map<Integer, StationProtocol> statusMap = new HashMap<>();
+ private Map<Integer, Double> stationLoopLoadMap = new HashMap<>();
+ private StationTrafficSnapshot trafficSnapshot = new StationTrafficSnapshot();
+ private LoopMergeGuardContext loopMergeGuardContext = new LoopMergeGuardContext();
+ private Set<Integer> outStationIdSet = new HashSet<>();
+ private Set<Integer> forbidStationIdSet = new HashSet<>();
+ private Set<String> forbidEdgeSet = new HashSet<>();
+ private Set<Integer> softReferenceStationSet = new HashSet<>();
+ }
+
+ private static class DirectPathState {
+ private final NavigateNode node;
+ private final DirectPathState parent;
+ private final double gScore;
+ private final double fScore;
+
+ private DirectPathState(NavigateNode node,
+ DirectPathState parent,
+ double gScore,
+ double fScore) {
+ this.node = node;
+ this.parent = parent;
+ this.gScore = gScore;
+ this.fScore = fScore;
+ }
+ }
+
+ private static class DirectPathSearchResult {
+ private final List<NavigateNode> path;
+ private final boolean includeWaypoint;
+ private final boolean includeSoftPreference;
+
+ private DirectPathSearchResult(List<NavigateNode> path,
+ boolean includeWaypoint,
+ boolean includeSoftPreference) {
+ this.path = path == null ? new ArrayList<>() : path;
+ this.includeWaypoint = includeWaypoint;
+ this.includeSoftPreference = includeSoftPreference;
+ }
+
+ private static DirectPathSearchResult empty(boolean includeWaypoint,
+ boolean includeSoftPreference) {
+ return new DirectPathSearchResult(new ArrayList<>(), includeWaypoint, includeSoftPreference);
+ }
+ }
+
private static class PathCandidateMetrics {
private List<NavigateNode> path;
private int pathLen;
@@ -1922,6 +2677,9 @@
private int runBlockCount;
private int softDeviationCount;
private double loopPenalty;
+ private double baseLengthWeight;
+ private double otherStaticCost;
+ private double pathLenPreferenceDistance;
private double staticCost;
private double dynamicCost;
}
--
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