From a0d8732c1d698b25850c0949f7b8967333d67d21 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 22:22:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java | 950 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 927 insertions(+), 23 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
index 622bf8b..f8d7abb 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -6,18 +6,22 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
+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.BasStationOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationOptService;
+import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
@@ -27,23 +31,37 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
+import com.zy.core.service.StationTaskLoopService;
import com.zy.core.thread.impl.v5.StationV5SegmentExecutor;
+import com.zy.core.trace.StationTaskTraceRegistry;
import com.zy.core.utils.DeviceLogRedisKeyBuilder;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
import java.util.ArrayList;
+import java.util.ArrayDeque;
+import java.util.Collections;
import java.util.Date;
+import java.util.Deque;
import java.util.HashMap;
+import java.util.HashSet;
+import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
+import java.util.Objects;
+import java.util.Set;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@Data
@Slf4j
public class ZyStationV5Thread implements Runnable, com.zy.core.thread.StationThread {
+
+ private static final int RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS = 60 * 60 * 24;
+ private static final int SHORT_PATH_REPEAT_AVOID_THRESHOLD = 2;
+ private static final int LOOP_REPEAT_TRIGGER_COUNT = 3;
+ private static final int LOCAL_LOOP_NEIGHBOR_HOP = 3;
private List<StationProtocol> statusList = new ArrayList<>();
private DeviceConfig deviceConfig;
@@ -229,31 +247,90 @@
if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
- List<Integer> path = new ArrayList<>();
- List<Integer> liftTransferPath = new ArrayList<>();
- for (NavigateNode n : nodes) {
- JSONObject v = JSONObject.parseObject(n.getNodeValue());
- if (v == null) {
- continue;
- }
- Integer stationNo = v.getInteger("stationId");
- if (stationNo == null) {
- continue;
- }
- path.add(stationNo);
- if (Boolean.TRUE.equals(n.getIsLiftTransferPoint())) {
- liftTransferPath.add(stationNo);
- }
- }
- if (path.isEmpty()) {
- log.warn("杈撻�佺嚎鍛戒护鐢熸垚澶辫触锛岃矾寰勪负绌猴紝taskNo={}, stationId={}, targetStationId={}",
- taskNo, stationId, targetStationId);
- return null;
- }
- stationCommand.setNavigatePath(path);
- stationCommand.setLiftTransferPath(liftTransferPath);
+ return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
}
return stationCommand;
+ }
+
+ @Override
+ public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize) {
+ if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
+ return null;
+ }
+ if (Objects.equals(stationId, targetStationId)) {
+ return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
+ }
+
+ RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
+ StationTaskLoopService taskLoopService = loadStationTaskLoopService();
+ StationTaskLoopService.LoopEvaluation loopEvaluation = taskLoopService == null
+ ? new StationTaskLoopService.LoopEvaluation(taskNo, stationId, StationTaskLoopService.LoopIdentitySnapshot.empty(), 0, 0, false)
+ : taskLoopService.evaluateLoop(taskNo, stationId, true);
+ log.info("杈撻�佺嚎鍫靛閲嶈鍒掔幆绾胯瘑鍒紝taskNo={}, stationId={}, scopeType={}, localStationCount={}, sourceLoopStationCount={}",
+ taskNo,
+ stationId,
+ loopEvaluation.getLoopIdentity().getScopeType(),
+ loopEvaluation.getLoopIdentity().getLocalStationCount(),
+ loopEvaluation.getLoopIdentity().getSourceLoopStationCount());
+ rerouteState.setTaskNo(taskNo);
+ rerouteState.setBlockStationId(stationId);
+ rerouteState.setLastTargetStationId(targetStationId);
+ rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
+ rerouteState.setLastPlanTime(System.currentTimeMillis());
+
+ List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
+ if (candidatePathList.isEmpty()) {
+ saveRunBlockRerouteState(rerouteState);
+ log.warn("杈撻�佺嚎鍫靛閲嶈鍒掑け璐ワ紝鍊欓�夎矾寰勪负绌猴紝taskNo={}, planCount={}, stationId={}, targetStationId={}",
+ taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
+ return null;
+ }
+
+ StationCommand rerouteCommand = selectAvailableRerouteCommand(
+ rerouteState,
+ loopEvaluation,
+ candidatePathList,
+ taskNo,
+ stationId,
+ targetStationId,
+ palletSize
+ );
+ if (rerouteCommand == null) {
+ log.info("杈撻�佺嚎鍫靛閲嶈鍒掑�欓�夎矾绾垮凡鍏ㄩ儴璇曡繃锛岄噸缃矾绾垮巻鍙插悗閲嶆柊寮�濮嬶紝taskNo={}, planCount={}, stationId={}, targetStationId={}",
+ taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
+ rerouteState.resetIssuedRoutes();
+ rerouteCommand = selectAvailableRerouteCommand(
+ rerouteState,
+ loopEvaluation,
+ candidatePathList,
+ taskNo,
+ stationId,
+ targetStationId,
+ palletSize
+ );
+ }
+
+ if (rerouteCommand != null) {
+ saveRunBlockRerouteState(rerouteState);
+ if (taskLoopService != null) {
+ taskLoopService.recordLoopIssue(loopEvaluation, "RUN_BLOCK_REROUTE");
+ }
+ log.info("杈撻�佺嚎鍫靛閲嶈鍒掗�変腑鍊欓�夎矾绾匡紝taskNo={}, planCount={}, stationId={}, targetStationId={}, route={}",
+ taskNo, rerouteState.getPlanCount(), stationId, targetStationId, JSON.toJSONString(rerouteCommand.getNavigatePath()));
+ return rerouteCommand;
+ }
+
+ saveRunBlockRerouteState(rerouteState);
+ log.warn("杈撻�佺嚎鍫靛閲嶈鍒掓湭鎵惧埌鍙笅鍙戣矾绾匡紝taskNo={}, planCount={}, stationId={}, targetStationId={}, triedRoutes={}",
+ taskNo,
+ rerouteState.getPlanCount(),
+ stationId,
+ targetStationId,
+ JSON.toJSONString(rerouteState.getIssuedRoutePathList()));
+ return null;
}
@Override
@@ -314,4 +391,831 @@
}
return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
}
+
+ private List<List<NavigateNode>> calcCandidatePathNavigateNodes(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId) {
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ if (navigateUtils == null) {
+ return new ArrayList<>();
+ }
+ return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo);
+ }
+
+ private StationCommand buildMoveCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ List<NavigateNode> nodes) {
+ StationCommand stationCommand = new StationCommand();
+ stationCommand.setTaskNo(taskNo);
+ stationCommand.setStationId(stationId);
+ stationCommand.setTargetStaNo(targetStationId);
+ stationCommand.setPalletSize(palletSize);
+ stationCommand.setCommandType(StationCommandType.MOVE);
+ return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
+ }
+
+ private StationCommand fillMoveCommandPath(StationCommand stationCommand,
+ List<NavigateNode> nodes,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId) {
+ List<Integer> path = new ArrayList<>();
+ List<Integer> liftTransferPath = new ArrayList<>();
+ for (NavigateNode node : nodes) {
+ JSONObject valueObject;
+ try {
+ valueObject = JSONObject.parseObject(node.getNodeValue());
+ } catch (Exception ignore) {
+ continue;
+ }
+ if (valueObject == null) {
+ continue;
+ }
+ Integer stationNo = valueObject.getInteger("stationId");
+ if (stationNo == null) {
+ continue;
+ }
+ path.add(stationNo);
+ if (Boolean.TRUE.equals(node.getIsLiftTransferPoint())) {
+ liftTransferPath.add(stationNo);
+ }
+ }
+ if (path.isEmpty()) {
+ log.warn("杈撻�佺嚎鍛戒护鐢熸垚澶辫触锛岃矾寰勪负绌猴紝taskNo={}, stationId={}, targetStationId={}",
+ taskNo, stationId, targetStationId);
+ return null;
+ }
+ stationCommand.setNavigatePath(path);
+ stationCommand.setLiftTransferPath(liftTransferPath);
+ stationCommand.setTargetStaNo(path.get(path.size() - 1));
+ return stationCommand;
+ }
+
+ private StationCommand selectAvailableRerouteCommand(RunBlockRerouteState rerouteState,
+ StationTaskLoopService.LoopEvaluation loopEvaluation,
+ List<List<NavigateNode>> candidatePathList,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize) {
+ if (rerouteState == null || candidatePathList == null || candidatePathList.isEmpty()) {
+ return null;
+ }
+
+ Set<String> issuedRouteSignatureSet = rerouteState.getIssuedRouteSignatureSet();
+ List<RerouteCandidateCommand> candidateCommandList = new ArrayList<>();
+ for (List<NavigateNode> candidatePath : candidatePathList) {
+ StationCommand rerouteCommand = buildMoveCommand(taskNo, stationId, targetStationId, palletSize, candidatePath);
+ if (rerouteCommand == null || rerouteCommand.getNavigatePath() == null || rerouteCommand.getNavigatePath().isEmpty()) {
+ continue;
+ }
+ String routeSignature = buildPathSignature(rerouteCommand.getNavigatePath());
+ if (Cools.isEmpty(routeSignature)) {
+ continue;
+ }
+ RerouteCandidateCommand candidateCommand = new RerouteCandidateCommand();
+ candidateCommand.setCommand(rerouteCommand);
+ candidateCommand.setRouteSignature(routeSignature);
+ candidateCommand.setPathLength(rerouteCommand.getNavigatePath().size());
+ candidateCommand.setIssuedCount(rerouteState.getRouteIssueCountMap().getOrDefault(routeSignature, 0));
+ candidateCommand.setLoopFingerprint(loopEvaluation.getLoopIdentity().getLoopFingerprint());
+ candidateCommand.setLoopIssuedCount(loopEvaluation.getExpectedLoopIssueCount());
+ candidateCommand.setLoopTriggered(loopEvaluation.isLargeLoopTriggered());
+ candidateCommand.setCurrentLoopHitCount(countCurrentLoopStationHit(
+ rerouteCommand.getNavigatePath(),
+ loopEvaluation.getLoopIdentity().getStationIdSet()
+ ));
+ candidateCommandList.add(candidateCommand);
+ }
+ if (candidateCommandList.isEmpty()) {
+ return null;
+ }
+
+ List<RerouteCandidateCommand> orderedCandidateCommandList = reorderCandidateCommandsForLoopRelease(candidateCommandList);
+ for (RerouteCandidateCommand candidateCommand : orderedCandidateCommandList) {
+ if (candidateCommand == null || candidateCommand.getCommand() == null) {
+ continue;
+ }
+ if (issuedRouteSignatureSet.contains(candidateCommand.getRouteSignature())) {
+ continue;
+ }
+
+ StationCommand rerouteCommand = candidateCommand.getCommand();
+ issuedRouteSignatureSet.add(candidateCommand.getRouteSignature());
+ rerouteState.getIssuedRoutePathList().add(new ArrayList<>(rerouteCommand.getNavigatePath()));
+ rerouteState.setLastSelectedRoute(new ArrayList<>(rerouteCommand.getNavigatePath()));
+ rerouteState.getRouteIssueCountMap().put(
+ candidateCommand.getRouteSignature(),
+ rerouteState.getRouteIssueCountMap().getOrDefault(candidateCommand.getRouteSignature(), 0) + 1
+ );
+ return rerouteCommand;
+ }
+ return null;
+ }
+
+ private List<RerouteCandidateCommand> reorderCandidateCommandsForLoopRelease(List<RerouteCandidateCommand> candidateCommandList) {
+ if (candidateCommandList == null || candidateCommandList.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ int shortestPathLength = Integer.MAX_VALUE;
+ int shortestPathLoopHitCount = Integer.MAX_VALUE;
+ boolean shortestPathOverused = false;
+ boolean currentLoopOverused = false;
+ boolean hasLongerCandidate = false;
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
+ continue;
+ }
+ shortestPathLength = Math.min(shortestPathLength, candidateCommand.getPathLength());
+ }
+ if (shortestPathLength == Integer.MAX_VALUE) {
+ return candidateCommandList;
+ }
+
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
+ continue;
+ }
+ if (candidateCommand.getPathLength() == shortestPathLength) {
+ shortestPathLoopHitCount = Math.min(shortestPathLoopHitCount, safeInt(candidateCommand.getCurrentLoopHitCount()));
+ }
+ if (candidateCommand.getPathLength() > shortestPathLength) {
+ hasLongerCandidate = true;
+ }
+ if (candidateCommand.getPathLength() == shortestPathLength
+ && candidateCommand.getIssuedCount() != null
+ && candidateCommand.getIssuedCount() >= SHORT_PATH_REPEAT_AVOID_THRESHOLD) {
+ shortestPathOverused = true;
+ }
+ if (!Cools.isEmpty(candidateCommand.getLoopFingerprint())
+ && Boolean.TRUE.equals(candidateCommand.getLoopTriggered())) {
+ currentLoopOverused = true;
+ }
+ }
+ if (!shortestPathOverused && !currentLoopOverused) {
+ return candidateCommandList;
+ }
+ if (shortestPathLoopHitCount == Integer.MAX_VALUE) {
+ shortestPathLoopHitCount = 0;
+ }
+
+ boolean hasLoopExitCandidate = false;
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand == null) {
+ continue;
+ }
+ if (safeInt(candidateCommand.getCurrentLoopHitCount()) < shortestPathLoopHitCount) {
+ hasLoopExitCandidate = true;
+ break;
+ }
+ }
+ if (!hasLongerCandidate && !hasLoopExitCandidate) {
+ return candidateCommandList;
+ }
+
+ List<RerouteCandidateCommand> reorderedList = new ArrayList<>();
+ if (currentLoopOverused && hasLoopExitCandidate) {
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand == null) {
+ continue;
+ }
+ if (safeInt(candidateCommand.getCurrentLoopHitCount()) < shortestPathLoopHitCount) {
+ appendCandidateIfAbsent(reorderedList, candidateCommand);
+ }
+ }
+ }
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand != null
+ && candidateCommand.getPathLength() != null
+ && candidateCommand.getPathLength() > shortestPathLength) {
+ appendCandidateIfAbsent(reorderedList, candidateCommand);
+ }
+ }
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand == null || candidateCommand.getPathLength() == null) {
+ continue;
+ }
+ appendCandidateIfAbsent(reorderedList, candidateCommand);
+ }
+ return reorderedList;
+ }
+
+ private void appendCandidateIfAbsent(List<RerouteCandidateCommand> reorderedList,
+ RerouteCandidateCommand candidateCommand) {
+ if (reorderedList == null || candidateCommand == null) {
+ return;
+ }
+ if (!reorderedList.contains(candidateCommand)) {
+ reorderedList.add(candidateCommand);
+ }
+ }
+
+ private RunBlockRerouteState loadRunBlockRerouteState(Integer taskNo, Integer blockStationId) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0 || blockStationId == null || blockStationId <= 0) {
+ return new RunBlockRerouteState();
+ }
+ Object stateObj = redisUtil.get(buildRunBlockRerouteStateKey(taskNo, blockStationId));
+ if (stateObj == null) {
+ return new RunBlockRerouteState();
+ }
+ try {
+ RunBlockRerouteState state = JSON.parseObject(String.valueOf(stateObj), RunBlockRerouteState.class);
+ return state == null ? new RunBlockRerouteState() : state.normalize();
+ } catch (Exception ignore) {
+ return new RunBlockRerouteState();
+ }
+ }
+
+ private void saveRunBlockRerouteState(RunBlockRerouteState rerouteState) {
+ if (redisUtil == null
+ || rerouteState == null
+ || rerouteState.getTaskNo() == null
+ || rerouteState.getTaskNo() <= 0
+ || rerouteState.getBlockStationId() == null
+ || rerouteState.getBlockStationId() <= 0) {
+ return;
+ }
+ rerouteState.normalize();
+ redisUtil.set(
+ buildRunBlockRerouteStateKey(rerouteState.getTaskNo(), rerouteState.getBlockStationId()),
+ JSON.toJSONString(rerouteState),
+ RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS
+ );
+ }
+
+ private TaskLoopRerouteState loadTaskLoopRerouteState(Integer taskNo) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0) {
+ return new TaskLoopRerouteState();
+ }
+ Object stateObj = redisUtil.get(RedisKeyType.STATION_RUN_BLOCK_TASK_LOOP_STATE_.key + taskNo);
+ if (stateObj == null) {
+ return new TaskLoopRerouteState();
+ }
+ try {
+ TaskLoopRerouteState state = JSON.parseObject(String.valueOf(stateObj), TaskLoopRerouteState.class);
+ return state == null ? new TaskLoopRerouteState() : state.normalize();
+ } catch (Exception ignore) {
+ return new TaskLoopRerouteState();
+ }
+ }
+
+ private void saveTaskLoopRerouteState(TaskLoopRerouteState taskLoopRerouteState) {
+ if (redisUtil == null
+ || taskLoopRerouteState == null
+ || taskLoopRerouteState.getTaskNo() == null
+ || taskLoopRerouteState.getTaskNo() <= 0) {
+ return;
+ }
+ taskLoopRerouteState.normalize();
+ redisUtil.set(
+ RedisKeyType.STATION_RUN_BLOCK_TASK_LOOP_STATE_.key + taskLoopRerouteState.getTaskNo(),
+ JSON.toJSONString(taskLoopRerouteState),
+ RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS
+ );
+ }
+
+ private void touchTaskLoopRerouteState(TaskLoopRerouteState taskLoopRerouteState,
+ LoopIdentity currentLoopIdentity) {
+ if (taskLoopRerouteState == null || currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return;
+ }
+ taskLoopRerouteState.getLoopIssueCountMap().put(
+ currentLoopIdentity.getLoopFingerprint(),
+ taskLoopRerouteState.getLoopIssueCountMap().getOrDefault(currentLoopIdentity.getLoopFingerprint(), 0) + 1
+ );
+ taskLoopRerouteState.setLastLoopFingerprint(currentLoopIdentity.getLoopFingerprint());
+ taskLoopRerouteState.setLastIssueTime(System.currentTimeMillis());
+ }
+
+ private int resolveCurrentLoopIssuedCount(TaskLoopRerouteState taskLoopRerouteState,
+ LoopIdentity currentLoopIdentity) {
+ if (taskLoopRerouteState == null || currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return 0;
+ }
+ return taskLoopRerouteState.getLoopIssueCountMap().getOrDefault(currentLoopIdentity.getLoopFingerprint(), 0);
+ }
+
+ private int resolveExpectedLoopIssuedCount(TaskLoopRerouteState taskLoopRerouteState,
+ LoopIdentity currentLoopIdentity) {
+ if (currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return 0;
+ }
+ return resolveCurrentLoopIssuedCount(taskLoopRerouteState, currentLoopIdentity) + 1;
+ }
+
+ private boolean isLoopRepeatTriggered(Integer loopIssuedCount) {
+ return loopIssuedCount != null && loopIssuedCount >= LOOP_REPEAT_TRIGGER_COUNT;
+ }
+
+ private void syncTaskTraceLoopAlert(Integer taskNo,
+ Integer blockedStationId,
+ LoopIdentity currentLoopIdentity,
+ int loopIssuedCount) {
+ StationTaskTraceRegistry traceRegistry;
+ try {
+ traceRegistry = SpringUtils.getBean(StationTaskTraceRegistry.class);
+ } catch (Exception ignore) {
+ return;
+ }
+ if (traceRegistry == null || taskNo == null || taskNo <= 0) {
+ return;
+ }
+
+ boolean active = currentLoopIdentity != null
+ && !Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())
+ && isLoopRepeatTriggered(loopIssuedCount);
+ Map<String, Object> details = new HashMap<>();
+ details.put("blockedStationId", blockedStationId);
+ details.put("loopScopeType", currentLoopIdentity == null ? "" : currentLoopIdentity.getScopeType());
+ details.put("loopStationCount", currentLoopIdentity == null ? 0 : currentLoopIdentity.getLocalStationCount());
+ details.put("sourceLoopStationCount", currentLoopIdentity == null ? 0 : currentLoopIdentity.getSourceLoopStationCount());
+ details.put("loopRepeatCount", loopIssuedCount);
+ String loopAlertType = resolveLoopAlertType(currentLoopIdentity);
+ String loopAlertText = buildLoopAlertText(loopAlertType, currentLoopIdentity, loopIssuedCount);
+ traceRegistry.updateLoopHint(taskNo, active, loopAlertType, loopAlertText, loopIssuedCount, details);
+ }
+
+ private String resolveLoopAlertType(LoopIdentity currentLoopIdentity) {
+ if (currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return "";
+ }
+ return "wholeLoop".equals(currentLoopIdentity.getScopeType()) ? "LARGE_LOOP" : "SMALL_LOOP";
+ }
+
+ private String buildLoopAlertText(String loopAlertType,
+ LoopIdentity currentLoopIdentity,
+ int loopIssuedCount) {
+ if (Cools.isEmpty(loopAlertType) || currentLoopIdentity == null || !isLoopRepeatTriggered(loopIssuedCount)) {
+ return "";
+ }
+ String typeLabel = "LARGE_LOOP".equals(loopAlertType) ? "澶х幆绾�" : "灏忕幆绾�";
+ return typeLabel + "缁曞湀棰勮锛岀疮璁￠噸瑙勫垝" + loopIssuedCount + "娆★紝褰撳墠璇嗗埆鑼冨洿"
+ + currentLoopIdentity.getLocalStationCount() + "绔�";
+ }
+
+ private int countCurrentLoopStationHit(List<Integer> path, Set<Integer> currentLoopStationIdSet) {
+ if (path == null || path.isEmpty() || currentLoopStationIdSet == null || currentLoopStationIdSet.isEmpty()) {
+ return 0;
+ }
+ int hitCount = 0;
+ for (Integer stationId : path) {
+ if (stationId != null && currentLoopStationIdSet.contains(stationId)) {
+ hitCount++;
+ }
+ }
+ return hitCount;
+ }
+
+ private String buildPathSignature(List<Integer> path) {
+ if (path == null || path.isEmpty()) {
+ return "";
+ }
+ StringBuilder builder = new StringBuilder();
+ for (Integer stationNo : path) {
+ if (stationNo == null) {
+ continue;
+ }
+ if (builder.length() > 0) {
+ builder.append("->");
+ }
+ builder.append(stationNo);
+ }
+ return builder.toString();
+ }
+
+ private StationTaskLoopService loadStationTaskLoopService() {
+ try {
+ return SpringUtils.getBean(StationTaskLoopService.class);
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private String buildRunBlockRerouteStateKey(Integer taskNo, Integer blockStationId) {
+ return RedisKeyType.STATION_RUN_BLOCK_REROUTE_STATE_.key + taskNo + "_" + blockStationId;
+ }
+
+ private LoopIdentity resolveStationLoopIdentity(Integer stationId) {
+ if (stationId == null || stationId <= 0) {
+ return LoopIdentity.empty();
+ }
+ try {
+ StationCycleCapacityService stationCycleCapacityService = SpringUtils.getBean(StationCycleCapacityService.class);
+ if (stationCycleCapacityService == null) {
+ return LoopIdentity.empty();
+ }
+ StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
+ if (capacityVo == null || capacityVo.getLoopList() == null || capacityVo.getLoopList().isEmpty()) {
+ return LoopIdentity.empty();
+ }
+ for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
+ List<Integer> loopStationIdList = normalizeLoopStationIdList(loopVo == null ? null : loopVo.getStationIdList());
+ if (loopStationIdList.isEmpty() || !loopStationIdList.contains(stationId)) {
+ continue;
+ }
+ Set<Integer> loopStationIdSet = new HashSet<>(loopStationIdList);
+ Map<Integer, Set<Integer>> stationGraph = loadUndirectedStationGraph();
+ List<Integer> localCycleStationIdList = resolveLocalCycleStationIdList(stationId, loopStationIdSet, stationGraph);
+ if (localCycleStationIdList.size() >= 3) {
+ return buildLoopIdentity(localCycleStationIdList, loopStationIdList.size(), "localCycle");
+ }
+
+ List<Integer> localNeighborhoodStationIdList = resolveLocalNeighborhoodStationIdList(stationId, loopStationIdSet, stationGraph);
+ if (localNeighborhoodStationIdList.size() >= 3 && localNeighborhoodStationIdList.size() < loopStationIdList.size()) {
+ return buildLoopIdentity(localNeighborhoodStationIdList, loopStationIdList.size(), "localNeighborhood");
+ }
+ return buildLoopIdentity(loopStationIdList, loopStationIdList.size(), "wholeLoop");
+ }
+ } catch (Exception ignore) {
+ }
+ return LoopIdentity.empty();
+ }
+
+ private LoopIdentity buildLoopIdentity(List<Integer> stationIdList,
+ int sourceLoopStationCount,
+ String scopeType) {
+ List<Integer> normalizedStationIdList = normalizeLoopStationIdList(stationIdList);
+ if (normalizedStationIdList.isEmpty()) {
+ return LoopIdentity.empty();
+ }
+ return new LoopIdentity(
+ buildLoopFingerprint(normalizedStationIdList),
+ new HashSet<>(normalizedStationIdList),
+ sourceLoopStationCount,
+ normalizedStationIdList.size(),
+ scopeType
+ );
+ }
+
+ private List<Integer> resolveLocalCycleStationIdList(Integer stationId,
+ Set<Integer> loopStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph) {
+ if (stationId == null
+ || stationId <= 0
+ || loopStationIdSet == null
+ || loopStationIdSet.isEmpty()
+ || stationGraph == null
+ || stationGraph.isEmpty()) {
+ return new ArrayList<>();
+ }
+ Set<Integer> localNeighborhoodStationIdSet = collectLoopNeighborhoodStationIdSet(
+ stationId,
+ loopStationIdSet,
+ stationGraph,
+ LOCAL_LOOP_NEIGHBOR_HOP
+ );
+ if (localNeighborhoodStationIdSet.size() < 3) {
+ return new ArrayList<>();
+ }
+
+ Set<Integer> directNeighborStationIdSet = filterLoopNeighborStationIdSet(
+ stationGraph.getOrDefault(stationId, Collections.emptySet()),
+ localNeighborhoodStationIdSet,
+ stationId
+ );
+ if (directNeighborStationIdSet.size() < 2) {
+ return new ArrayList<>();
+ }
+
+ List<Integer> bestCycleStationIdList = new ArrayList<>();
+ List<Integer> neighborStationIdList = new ArrayList<>(directNeighborStationIdSet);
+ for (int i = 0; i < neighborStationIdList.size(); i++) {
+ Integer leftNeighborStationId = neighborStationIdList.get(i);
+ if (leftNeighborStationId == null) {
+ continue;
+ }
+ for (int j = i + 1; j < neighborStationIdList.size(); j++) {
+ Integer rightNeighborStationId = neighborStationIdList.get(j);
+ if (rightNeighborStationId == null) {
+ continue;
+ }
+ List<Integer> pathBetweenNeighbors = findShortestScopePath(
+ leftNeighborStationId,
+ rightNeighborStationId,
+ stationId,
+ localNeighborhoodStationIdSet,
+ stationGraph
+ );
+ if (pathBetweenNeighbors.isEmpty()) {
+ continue;
+ }
+ List<Integer> cycleStationIdList = new ArrayList<>();
+ cycleStationIdList.add(stationId);
+ cycleStationIdList.addAll(pathBetweenNeighbors);
+ cycleStationIdList = normalizeLoopStationIdList(cycleStationIdList);
+ if (cycleStationIdList.size() < 3) {
+ continue;
+ }
+ if (bestCycleStationIdList.isEmpty() || cycleStationIdList.size() < bestCycleStationIdList.size()) {
+ bestCycleStationIdList = cycleStationIdList;
+ }
+ }
+ }
+ return bestCycleStationIdList;
+ }
+
+ private List<Integer> resolveLocalNeighborhoodStationIdList(Integer stationId,
+ Set<Integer> loopStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph) {
+ return normalizeLoopStationIdList(new ArrayList<>(collectLoopNeighborhoodStationIdSet(
+ stationId,
+ loopStationIdSet,
+ stationGraph,
+ LOCAL_LOOP_NEIGHBOR_HOP
+ )));
+ }
+
+ private Set<Integer> collectLoopNeighborhoodStationIdSet(Integer stationId,
+ Set<Integer> loopStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph,
+ int maxHop) {
+ Set<Integer> neighborhoodStationIdSet = new LinkedHashSet<>();
+ if (stationId == null
+ || stationId <= 0
+ || loopStationIdSet == null
+ || loopStationIdSet.isEmpty()
+ || !loopStationIdSet.contains(stationId)
+ || stationGraph == null
+ || stationGraph.isEmpty()
+ || maxHop < 0) {
+ return neighborhoodStationIdSet;
+ }
+
+ Deque<StationHopNode> queue = new ArrayDeque<>();
+ queue.offer(new StationHopNode(stationId, 0));
+ neighborhoodStationIdSet.add(stationId);
+ while (!queue.isEmpty()) {
+ StationHopNode current = queue.poll();
+ if (current == null || current.getHop() >= maxHop) {
+ continue;
+ }
+ Set<Integer> neighborStationIdSet = filterLoopNeighborStationIdSet(
+ stationGraph.getOrDefault(current.getStationId(), Collections.emptySet()),
+ loopStationIdSet,
+ null
+ );
+ for (Integer neighborStationId : neighborStationIdSet) {
+ if (neighborStationId == null || !neighborhoodStationIdSet.add(neighborStationId)) {
+ continue;
+ }
+ queue.offer(new StationHopNode(neighborStationId, current.getHop() + 1));
+ }
+ }
+ return neighborhoodStationIdSet;
+ }
+
+ private Set<Integer> filterLoopNeighborStationIdSet(Set<Integer> candidateNeighborStationIdSet,
+ Set<Integer> allowedStationIdSet,
+ Integer excludedStationId) {
+ Set<Integer> result = new LinkedHashSet<>();
+ if (candidateNeighborStationIdSet == null || candidateNeighborStationIdSet.isEmpty()
+ || allowedStationIdSet == null || allowedStationIdSet.isEmpty()) {
+ return result;
+ }
+ for (Integer stationId : candidateNeighborStationIdSet) {
+ if (stationId == null
+ || !allowedStationIdSet.contains(stationId)
+ || (excludedStationId != null && excludedStationId.equals(stationId))) {
+ continue;
+ }
+ result.add(stationId);
+ }
+ return result;
+ }
+
+ private List<Integer> findShortestScopePath(Integer startStationId,
+ Integer endStationId,
+ Integer excludedStationId,
+ Set<Integer> allowedStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph) {
+ if (startStationId == null
+ || endStationId == null
+ || Objects.equals(startStationId, excludedStationId)
+ || Objects.equals(endStationId, excludedStationId)
+ || allowedStationIdSet == null
+ || !allowedStationIdSet.contains(startStationId)
+ || !allowedStationIdSet.contains(endStationId)
+ || stationGraph == null
+ || stationGraph.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ Deque<Integer> queue = new ArrayDeque<>();
+ Map<Integer, Integer> parentMap = new HashMap<>();
+ Set<Integer> visitedStationIdSet = new HashSet<>();
+ queue.offer(startStationId);
+ visitedStationIdSet.add(startStationId);
+ while (!queue.isEmpty()) {
+ Integer currentStationId = queue.poll();
+ if (currentStationId == null) {
+ continue;
+ }
+ if (Objects.equals(currentStationId, endStationId)) {
+ break;
+ }
+ Set<Integer> neighborStationIdSet = filterLoopNeighborStationIdSet(
+ stationGraph.getOrDefault(currentStationId, Collections.emptySet()),
+ allowedStationIdSet,
+ excludedStationId
+ );
+ for (Integer neighborStationId : neighborStationIdSet) {
+ if (neighborStationId == null || !visitedStationIdSet.add(neighborStationId)) {
+ continue;
+ }
+ parentMap.put(neighborStationId, currentStationId);
+ queue.offer(neighborStationId);
+ }
+ }
+ if (!visitedStationIdSet.contains(endStationId)) {
+ return new ArrayList<>();
+ }
+
+ List<Integer> pathStationIdList = new ArrayList<>();
+ Integer cursorStationId = endStationId;
+ while (cursorStationId != null) {
+ pathStationIdList.add(cursorStationId);
+ if (Objects.equals(cursorStationId, startStationId)) {
+ break;
+ }
+ cursorStationId = parentMap.get(cursorStationId);
+ }
+ if (pathStationIdList.isEmpty()
+ || !Objects.equals(pathStationIdList.get(pathStationIdList.size() - 1), startStationId)) {
+ return new ArrayList<>();
+ }
+ Collections.reverse(pathStationIdList);
+ return pathStationIdList;
+ }
+
+ private Map<Integer, Set<Integer>> loadUndirectedStationGraph() {
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ if (navigateUtils == null) {
+ return new HashMap<>();
+ }
+ Map<Integer, Set<Integer>> stationGraph = navigateUtils.loadUndirectedStationGraphSnapshot();
+ return stationGraph == null ? new HashMap<>() : stationGraph;
+ }
+
+ private List<Integer> normalizeLoopStationIdList(List<Integer> stationIdList) {
+ if (stationIdList == null || stationIdList.isEmpty()) {
+ return new ArrayList<>();
+ }
+ List<Integer> normalizedList = new ArrayList<>();
+ Set<Integer> seenStationIdSet = new HashSet<>();
+ for (Integer stationId : stationIdList) {
+ if (stationId == null || stationId <= 0 || !seenStationIdSet.add(stationId)) {
+ continue;
+ }
+ normalizedList.add(stationId);
+ }
+ Collections.sort(normalizedList);
+ return normalizedList;
+ }
+
+ private String buildLoopFingerprint(List<Integer> stationIdList) {
+ if (stationIdList == null || stationIdList.isEmpty()) {
+ return "";
+ }
+ StringBuilder builder = new StringBuilder();
+ for (Integer stationId : stationIdList) {
+ if (stationId == null) {
+ continue;
+ }
+ if (builder.length() > 0) {
+ builder.append("|");
+ }
+ builder.append(stationId);
+ }
+ return builder.toString();
+ }
+
+ private int safeInt(Integer value) {
+ return value == null ? 0 : value;
+ }
+
+ @Data
+ private static class RunBlockRerouteState {
+ private Integer taskNo;
+ private Integer blockStationId;
+ private Integer planCount = 0;
+ private Integer lastTargetStationId;
+ private Long lastPlanTime;
+ private List<List<Integer>> issuedRoutePathList = new ArrayList<>();
+ private List<Integer> lastSelectedRoute = new ArrayList<>();
+ private Set<String> issuedRouteSignatureSet = new LinkedHashSet<>();
+ private Map<String, Integer> routeIssueCountMap = new HashMap<>();
+
+ private RunBlockRerouteState normalize() {
+ if (planCount == null || planCount < 0) {
+ planCount = 0;
+ }
+ if (issuedRoutePathList == null) {
+ issuedRoutePathList = new ArrayList<>();
+ }
+ if (lastSelectedRoute == null) {
+ lastSelectedRoute = new ArrayList<>();
+ }
+ if (issuedRouteSignatureSet == null) {
+ issuedRouteSignatureSet = new LinkedHashSet<>();
+ }
+ if (routeIssueCountMap == null) {
+ routeIssueCountMap = new HashMap<>();
+ }
+ for (List<Integer> routePath : issuedRoutePathList) {
+ if (routePath == null || routePath.isEmpty()) {
+ continue;
+ }
+ String pathSignature = buildPathSignatureText(routePath);
+ if (!Cools.isEmpty(pathSignature)) {
+ issuedRouteSignatureSet.add(pathSignature);
+ routeIssueCountMap.putIfAbsent(pathSignature, 1);
+ }
+ }
+ return this;
+ }
+
+ private void resetIssuedRoutes() {
+ this.issuedRoutePathList = new ArrayList<>();
+ this.lastSelectedRoute = new ArrayList<>();
+ this.issuedRouteSignatureSet = new LinkedHashSet<>();
+ }
+
+ private static String buildPathSignatureText(List<Integer> routePath) {
+ if (routePath == null || routePath.isEmpty()) {
+ return "";
+ }
+ StringBuilder builder = new StringBuilder();
+ for (Integer stationId : routePath) {
+ if (stationId == null) {
+ continue;
+ }
+ if (builder.length() > 0) {
+ builder.append("->");
+ }
+ builder.append(stationId);
+ }
+ return builder.toString();
+ }
+ }
+
+ @Data
+ private static class RerouteCandidateCommand {
+ private StationCommand command;
+ private String routeSignature;
+ private Integer pathLength;
+ private Integer issuedCount;
+ private String loopFingerprint;
+ private Integer loopIssuedCount;
+ private Boolean loopTriggered;
+ private Integer currentLoopHitCount;
+ }
+
+ @Data
+ private static class TaskLoopRerouteState {
+ private Integer taskNo;
+ private String lastLoopFingerprint;
+ private Long lastIssueTime;
+ private Map<String, Integer> loopIssueCountMap = new HashMap<>();
+
+ private TaskLoopRerouteState normalize() {
+ if (loopIssueCountMap == null) {
+ loopIssueCountMap = new HashMap<>();
+ }
+ return this;
+ }
+ }
+
+ @Data
+ private static class LoopIdentity {
+ private String loopFingerprint;
+ private Set<Integer> stationIdSet = new HashSet<>();
+ private int sourceLoopStationCount;
+ private int localStationCount;
+ private String scopeType;
+
+ private LoopIdentity(String loopFingerprint,
+ Set<Integer> stationIdSet,
+ int sourceLoopStationCount,
+ int localStationCount,
+ String scopeType) {
+ this.loopFingerprint = loopFingerprint;
+ this.stationIdSet = stationIdSet == null ? new HashSet<>() : stationIdSet;
+ this.sourceLoopStationCount = sourceLoopStationCount;
+ this.localStationCount = localStationCount;
+ this.scopeType = scopeType == null ? "" : scopeType;
+ }
+
+ private static LoopIdentity empty() {
+ return new LoopIdentity("", new HashSet<>(), 0, 0, "none");
+ }
+ }
+
+ @Data
+ private static class StationHopNode {
+ private final Integer stationId;
+ private final int hop;
+ }
}
--
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