From cb1672bfd82f1666f0a9480a6458eac2fabcfa9a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 20 三月 2026 20:12:41 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 1812 ++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 1,700 insertions(+), 112 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 377f2d2..11ec85c 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -4,12 +4,30 @@
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
+import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
+import java.util.Set;
+import com.zy.asrs.domain.path.StationPathProfileConfig;
+import com.zy.asrs.domain.path.StationPathResolvedPolicy;
+import com.zy.asrs.domain.path.StationPathRuleConfig;
+import com.zy.asrs.domain.vo.StationTaskTraceSegmentVo;
+import com.zy.asrs.entity.BasStationOpt;
+import com.zy.asrs.domain.vo.StationTaskTraceVo;
+import com.zy.asrs.domain.vo.StationCycleCapacityVo;
+import com.zy.asrs.domain.vo.StationCycleLoopVo;
+import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasStation;
+import com.zy.asrs.service.BasStationOptService;
+import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationService;
+import com.zy.asrs.service.StationCycleCapacityService;
+import com.zy.asrs.service.StationPathPolicyService;
import com.zy.core.News;
+import com.zy.core.model.StationObjModel;
+import com.zy.core.model.command.StationCommand;
+import com.zy.core.enums.StationCommandType;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -25,16 +43,40 @@
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
-import com.zy.system.entity.Config;
-import com.zy.system.service.ConfigService;
+import com.zy.core.trace.StationTaskTraceRegistry;
+
+import java.util.Date;
+import java.util.LinkedHashMap;
@Component
public class NavigateUtils {
+ private static final double CONGESTION_BUSY_BASE = 1.0d;
+ private static final double CONGESTION_ISSUED_RESERVE_BASE = 0.75d;
+ private static final double CONGESTION_PENDING_QUEUE_BASE = 0.45d;
+ private static final double CONGESTION_RUN_BLOCK_BASE = 1.5d;
+ private static final double WAIT_BUSY_SECONDS = 10.0d;
+ private static final double WAIT_ISSUED_RESERVE_SECONDS = 8.0d;
+ private static final double WAIT_PENDING_QUEUE_SECONDS = 5.0d;
+ private static final double WAIT_RUN_BLOCK_SECONDS = 30.0d;
+ private static final int DEADLOCK_PREFIX_LOOKAHEAD = 6;
+
@Autowired
private BasStationService basStationService;
+ @Autowired
+ private BasStationOptService basStationOptService;
+ @Autowired
+ private StationPathPolicyService stationPathPolicyService;
+ @Autowired
+ private StationCycleCapacityService stationCycleCapacityService;
+ @Autowired
+ private StationTaskTraceRegistry stationTaskTraceRegistry;
public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
+ return calcByStationId(startStationId, endStationId, null);
+ }
+
+ public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId, Integer currentTaskNo) {
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�");
@@ -54,18 +96,41 @@
throw new CoolException("鏈壘鍒拌 缁堢偣 瀵瑰簲鐨勮妭鐐�");
}
+ StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
+ StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
+ ? StationPathProfileConfig.defaultConfig()
+ : resolvedPolicy.getProfileConfig();
+
long startTime = System.currentTimeMillis();
News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={}", startStationId, endStationId);
- List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
+ int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
+ int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
+ int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
+ List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
+ List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
+ stationMap,
+ startNode,
+ endNode,
+ calcMaxDepth,
+ calcMaxPaths,
+ calcMaxCost,
+ guideStationSequence
+ );
if (allList.isEmpty()) {
// throw new CoolException("鏈壘鍒拌璺緞");
+ return new ArrayList<>();
+ }
+ Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
+ allList = filterNonAutoStationPaths(allList, statusMap);
+ if (allList.isEmpty()) {
+ 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 new ArrayList<>();
}
News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
startTime = System.currentTimeMillis();
News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸寮�濮嬪垎鏋�,startStationId={},endStationId={}", startStationId, endStationId);
- List<NavigateNode> list = findStationBestPath(allList);
+ List<NavigateNode> list = findStationBestPathTwoStage(allList, resolvedPolicy, currentTaskNo);
News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸鍒嗘瀽瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
//鍘婚噸
@@ -209,139 +274,1662 @@
return liftStationList;
}
- public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
+ private StationPathResolvedPolicy resolveStationPathPolicy(Integer startStationId, Integer endStationId) {
+ try {
+ if (stationPathPolicyService != null) {
+ StationPathResolvedPolicy resolved = stationPathPolicyService.resolvePolicy(startStationId, endStationId);
+ if (resolved != null) {
+ return resolved;
+ }
+ }
+ } catch (Exception e) {
+ News.warn("绔欑偣璺緞绛栫暐鍔犺浇澶辫触锛屽洖閫�榛樿 twoStage: {}", e.getMessage());
+ }
+ return new StationPathResolvedPolicy();
+ }
+
+ private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
+ StationPathResolvedPolicy resolvedPolicy,
+ Integer currentTaskNo) {
if (allList == null || allList.isEmpty()) {
return new ArrayList<>();
}
- Map<Integer, StationProtocol> statusMap = new HashMap<>();
- try {
- DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
- if (deviceConfigService != null) {
- List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
- .eq("device_type", String.valueOf(SlaveType.Devp)));
- for (DeviceConfig deviceConfig : devpList) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
- if (stationThread == null) {
- continue;
- }
- Map<Integer, StationProtocol> m = stationThread.getStatusMap();
- if (m != null && !m.isEmpty()) {
- statusMap.putAll(m);
- }
- }
+ StationPathRuleConfig ruleConfig = resolvedPolicy.getRuleConfig() == null
+ ? new StationPathRuleConfig()
+ : resolvedPolicy.getRuleConfig();
+ StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
+ ? StationPathProfileConfig.defaultConfig()
+ : resolvedPolicy.getProfileConfig();
+ PathGlobalPolicy globalPolicy = loadPathGlobalPolicy(profileConfig);
+
+ List<List<NavigateNode>> filteredCandidates = applyRuleFilters(allList, ruleConfig, true);
+ if (filteredCandidates.isEmpty() && hasWaypoint(ruleConfig) && !strictWaypoint(ruleConfig)) {
+ filteredCandidates = applyRuleFilters(allList, ruleConfig, false);
+ News.info("[WCS Debug] 绔欑偣璺緞瑙勫垯宸查檷绾э紝蹇界暐鍏抽敭閫旂粡鐐圭害鏉熷悗閲嶈瘯");
+ }
+ List<List<NavigateNode>> softFilteredCandidates = applySoftPreferenceFilter(filteredCandidates, ruleConfig);
+ if (!softFilteredCandidates.isEmpty()) {
+ filteredCandidates = softFilteredCandidates;
+ } else if (hasSoftPreference(ruleConfig) && !allowSoftDegrade(ruleConfig)) {
+ News.warn("[WCS Debug] 绔欑偣璺緞杞亸濂藉懡涓絾鏃犲彲琛岃矾寰勶紝涓斾笉鍏佽闄嶇骇");
+ return new ArrayList<>();
+ } else if (hasSoftPreference(ruleConfig)) {
+ News.info("[WCS Debug] 绔欑偣璺緞瑙勫垯宸查檷绾э紝蹇界暐杞亸濂界害鏉熷悗閲嶈瘯");
+ }
+ if (filteredCandidates.isEmpty()) {
+ if (resolvedPolicy.matchedRule()) {
+ News.warn("绔欑偣璺緞瑙勫垯鍛戒腑浣嗘棤鍙璺緞锛宺uleCode={}",
+ resolvedPolicy.getRuleEntity() == null ? "" : resolvedPolicy.getRuleEntity().getRuleCode());
+ return new ArrayList<>();
}
- } catch (Exception ignore) {}
+ filteredCandidates = allList;
+ }
- List<List<NavigateNode>> candidates = new ArrayList<>();
- List<Integer> lens = new ArrayList<>();
- List<Integer> tasksList = new ArrayList<>();
- List<Double> congs = new ArrayList<>();
+ Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
+ Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
+ StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
+ LoopMergeGuardContext loopMergeGuardContext = loadLoopMergeGuardContext();
+ Set<LoopMergeEntry> mandatoryLoopMergeEntrySet = resolveMandatoryLoopMergeEntrySet(filteredCandidates, loopMergeGuardContext);
+ Set<Integer> outStationIdSet = loadAllOutStationIdSet();
+ List<PathCandidateMetrics> metricsList = new ArrayList<>();
+ int skippedByOtherOutStation = 0;
+ int skippedByLoopMergeGuard = 0;
+ for (List<NavigateNode> path : filteredCandidates) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ if (!isLoopMergePathAllowed(path, statusMap, trafficSnapshot, loopMergeGuardContext, mandatoryLoopMergeEntrySet)) {
+ skippedByLoopMergeGuard++;
+ continue;
+ }
+ PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
+ if (globalPolicy.forceSkipPassOtherOutStation && metrics.passOtherOutStationCount > 0) {
+ skippedByOtherOutStation++;
+ continue;
+ }
+ metricsList.add(metrics);
+ }
+ if (metricsList.isEmpty()) {
+ if (globalPolicy.forceSkipPassOtherOutStation && skippedByOtherOutStation > 0) {
+ News.warn("[WCS Debug] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽洜缁忚繃鍏朵粬鍑哄簱绔欑偣,startStationId={},endStationId={}",
+ resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
+ resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
+ } else if (skippedByLoopMergeGuard > 0) {
+ News.warn("[WCS Debug] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽洜鍒嗗弶鍙ｆ彃鍏ョ幆绾夸富骞蹭細褰卞搷涓诲共閬�,startStationId={},endStationId={}",
+ resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getStartStationId(),
+ resolvedPolicy.getRuleEntity() == null ? null : resolvedPolicy.getRuleEntity().getEndStationId());
+ }
+ return new ArrayList<>();
+ }
+ metricsList.sort((a, b) -> compareDouble(a.staticCost, b.staticCost, a.turnCount, b.turnCount, a.pathLen, b.pathLen));
+ PathCandidateMetrics preferred = metricsList.get(0);
+ int maxLen = (int) Math.ceil(preferred.pathLen * safeDouble(profileConfig.getS1MaxLenRatio(), 1.15d));
+ int maxTurns = preferred.turnCount + safeInt(profileConfig.getS1MaxTurnDiff(), 1);
+
+ List<PathCandidateMetrics> stage1Selected = new ArrayList<>();
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (metrics.pathLen <= maxLen && metrics.turnCount <= maxTurns) {
+ stage1Selected.add(metrics);
+ }
+ }
+ if (stage1Selected.isEmpty()) {
+ stage1Selected.addAll(metricsList);
+ }
+
+ int topK = safeInt(profileConfig.getS1TopK(), 5);
+ if (topK > 0 && stage1Selected.size() > topK) {
+ stage1Selected = new ArrayList<>(stage1Selected.subList(0, topK));
+ }
+
+ stage1Selected.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+ return stage1Selected.get(0).path;
+ }
+
+ private List<List<NavigateNode>> applyRuleFilters(List<List<NavigateNode>> allList,
+ StationPathRuleConfig ruleConfig,
+ boolean includeWaypoint) {
+ if (allList == null || allList.isEmpty()) {
+ return new ArrayList<>();
+ }
+ if (ruleConfig == null) {
+ return allList;
+ }
+
+ List<List<NavigateNode>> result = new ArrayList<>();
for (List<NavigateNode> path : allList) {
if (path == null || path.isEmpty()) {
continue;
}
- int len = path.size();
- int tasks = 0;
- HashSet<Integer> stationIdSet = new HashSet<>();
- for (NavigateNode node : path) {
- JSONObject value = null;
- try {
- value = JSON.parseObject(node.getNodeValue());
- } catch (Exception ignore) {}
- if (value == null) {
- continue;
- }
- Integer stationId = value.getInteger("stationId");
- if (stationId == null) {
- continue;
- }
- if (!stationIdSet.add(stationId)) {
- continue;
- }
- StationProtocol protocol = statusMap.get(stationId);
- if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
- tasks++;
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (!matchHardConstraint(stationIdList, ruleConfig.getHard())) {
+ continue;
+ }
+ if (includeWaypoint && !matchWaypointConstraint(stationIdList, ruleConfig.getWaypoint())) {
+ continue;
+ }
+ result.add(path);
+ }
+ return result;
+ }
+
+ private List<List<NavigateNode>> applySoftPreferenceFilter(List<List<NavigateNode>> allList,
+ StationPathRuleConfig ruleConfig) {
+ if (allList == null || allList.isEmpty() || ruleConfig == null) {
+ return new ArrayList<>();
+ }
+ StationPathRuleConfig.SoftPreference soft = ruleConfig.getSoft();
+ List<Integer> preferredPath = getSoftReferencePath(soft);
+ if (preferredPath.isEmpty()) {
+ return allList;
+ }
+
+ List<List<NavigateNode>> result = new ArrayList<>();
+ for (List<NavigateNode> path : allList) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (!matchSoftConstraint(stationIdList, soft)) {
+ continue;
+ }
+ result.add(path);
+ }
+ return result;
+ }
+
+ private boolean matchHardConstraint(List<Integer> stationIdList, StationPathRuleConfig.HardConstraint hard) {
+ if (stationIdList == null) {
+ return false;
+ }
+ if (hard == null) {
+ return true;
+ }
+ Set<Integer> stationIdSet = new HashSet<>(stationIdList);
+ for (Integer stationId : safeList(hard.getMustPassStations())) {
+ if (stationId != null && !stationIdSet.contains(stationId)) {
+ return false;
+ }
+ }
+ for (Integer stationId : safeList(hard.getForbidStations())) {
+ if (stationId != null && stationIdSet.contains(stationId)) {
+ return false;
+ }
+ }
+ for (String edge : safeList(hard.getMustPassEdges())) {
+ if (notBlank(edge) && !containsEdge(stationIdList, edge)) {
+ return false;
+ }
+ }
+ for (String edge : safeList(hard.getForbidEdges())) {
+ if (notBlank(edge) && containsEdge(stationIdList, edge)) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ private boolean matchWaypointConstraint(List<Integer> stationIdList, StationPathRuleConfig.WaypointConstraint waypoint) {
+ if (waypoint == null || waypoint.getStations() == null || waypoint.getStations().isEmpty()) {
+ return true;
+ }
+ int cursor = 0;
+ for (Integer stationId : stationIdList) {
+ Integer expected = waypoint.getStations().get(cursor);
+ if (expected != null && expected.equals(stationId)) {
+ cursor++;
+ if (cursor >= waypoint.getStations().size()) {
+ return true;
}
}
- double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
- candidates.add(path);
- lens.add(len);
- tasksList.add(tasks);
- congs.add(cong);
+ }
+ return false;
+ }
+
+ private boolean matchSoftConstraint(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
+ List<Integer> preferredPath = getSoftReferencePath(soft);
+ if (preferredPath.isEmpty()) {
+ return true;
+ }
+ if (!containsOrderedStations(stationIdList, preferredPath)) {
+ return false;
+ }
+ Integer maxOffPathCount = soft == null ? null : soft.getMaxOffPathCount();
+ if (maxOffPathCount == null || maxOffPathCount < 0) {
+ return true;
+ }
+ if (!isFullSoftPreferredPath(stationIdList, preferredPath)) {
+ return true;
+ }
+ return countOffPathStations(stationIdList, preferredPath) <= maxOffPathCount;
+ }
+
+ private boolean hasWaypoint(StationPathRuleConfig ruleConfig) {
+ return ruleConfig != null
+ && ruleConfig.getWaypoint() != null
+ && ruleConfig.getWaypoint().getStations() != null
+ && !ruleConfig.getWaypoint().getStations().isEmpty();
+ }
+
+ private boolean hasSoftPreference(StationPathRuleConfig ruleConfig) {
+ return !getSoftReferencePath(ruleConfig == null ? null : ruleConfig.getSoft()).isEmpty();
+ }
+
+ private boolean strictWaypoint(StationPathRuleConfig ruleConfig) {
+ return ruleConfig != null
+ && ruleConfig.getFallback() != null
+ && Boolean.TRUE.equals(ruleConfig.getFallback().getStrictWaypoint());
+ }
+
+ private boolean allowSoftDegrade(StationPathRuleConfig ruleConfig) {
+ return ruleConfig == null
+ || ruleConfig.getFallback() == null
+ || !Boolean.FALSE.equals(ruleConfig.getFallback().getAllowSoftDegrade());
+ }
+
+ private List<Integer> buildGuideStationSequence(Integer startStationId,
+ Integer endStationId,
+ StationPathRuleConfig ruleConfig) {
+ if (startStationId == null || endStationId == null || ruleConfig == null) {
+ return Collections.emptyList();
}
- if (candidates.isEmpty()) {
- return allList.get(0);
- }
+ List<Integer> sequence = new ArrayList<>();
+ appendGuideStation(sequence, startStationId);
- int minLen = Integer.MAX_VALUE;
- int maxLen = Integer.MIN_VALUE;
- double minCong = Double.MAX_VALUE;
- double maxCong = -Double.MAX_VALUE;
- for (int i = 0; i < candidates.size(); i++) {
- int l = lens.get(i);
- double c = congs.get(i);
- if (l < minLen) minLen = l;
- if (l > maxLen) maxLen = l;
- if (c < minCong) minCong = c;
- if (c > maxCong) maxCong = c;
- }
-
- //闀垮害鏉冮噸鐧惧垎姣�
- double lenWeightPercent = 50.0;
- //鎷ュ牭鏉冮噸鐧惧垎姣�
- double congWeightPercent = 50.0;
- try {
- ConfigService configService = SpringUtils.getBean(ConfigService.class);
- if (configService != null) {
- Config cfgLen = configService.getOne(new QueryWrapper<Config>().eq("code", "stationPathLenWeightPercent"));
- if (cfgLen != null && cfgLen.getValue() != null) {
- String v = cfgLen.getValue().trim();
- if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
- try { lenWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
+ List<Integer> preferredPath = safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
+ if (!preferredPath.isEmpty()) {
+ if (startStationId.equals(preferredPath.get(0))) {
+ for (int i = 1; i < preferredPath.size(); i++) {
+ appendGuideStation(sequence, preferredPath.get(i));
}
- Config cfgCong = configService.getOne(new QueryWrapper<Config>().eq("code", "stationPathCongWeightPercent"));
- if (cfgCong != null && cfgCong.getValue() != null) {
- String v = cfgCong.getValue().trim();
- if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
- try { congWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
+ if (sequence.get(sequence.size() - 1).equals(endStationId)) {
+ return sequence;
+ }
+ }
+ sequence.clear();
+ appendGuideStation(sequence, startStationId);
+ }
+
+ for (Integer stationId : safeList(ruleConfig.getWaypoint() == null ? null : ruleConfig.getWaypoint().getStations())) {
+ appendGuideStation(sequence, stationId);
+ }
+ for (Integer stationId : safeList(ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getKeyStations())) {
+ appendGuideStation(sequence, stationId);
+ }
+ appendGuideStation(sequence, endStationId);
+ return sequence.size() <= 2 ? Collections.emptyList() : sequence;
+ }
+
+ private void appendGuideStation(List<Integer> sequence, Integer stationId) {
+ if (sequence == null || stationId == null) {
+ return;
+ }
+ if (!sequence.isEmpty() && stationId.equals(sequence.get(sequence.size() - 1))) {
+ return;
+ }
+ sequence.add(stationId);
+ }
+
+ private boolean containsEdge(List<Integer> stationIdList, String edgeText) {
+ int[] edge = parseEdge(edgeText);
+ if (edge == null) {
+ return false;
+ }
+ for (int i = 0; i < stationIdList.size() - 1; i++) {
+ Integer current = stationIdList.get(i);
+ Integer next = stationIdList.get(i + 1);
+ if (current != null && next != null && current == edge[0] && next == edge[1]) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private int[] parseEdge(String edgeText) {
+ if (!notBlank(edgeText)) {
+ return null;
+ }
+ String normalized = edgeText.replace(" ", "");
+ String[] parts = normalized.split("->");
+ if (parts.length != 2) {
+ return null;
+ }
+ try {
+ return new int[]{Integer.parseInt(parts[0]), Integer.parseInt(parts[1])};
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
+ Map<Integer, StationProtocol> statusMap,
+ Map<Integer, Double> stationLoopLoadMap,
+ StationTrafficSnapshot trafficSnapshot,
+ StationPathProfileConfig profileConfig,
+ StationPathRuleConfig ruleConfig,
+ PathGlobalPolicy globalPolicy,
+ Set<Integer> outStationIdSet) {
+ PathCandidateMetrics metrics = new PathCandidateMetrics();
+ metrics.path = path;
+ metrics.pathLen = path.size();
+ metrics.turnCount = countTurnCount(path);
+ metrics.liftTransferCount = countLiftTransferCount(path);
+
+ List<Integer> stationIdList = extractStationIdList(path);
+ metrics.congestionScore = calcCongestionScore(stationIdList, trafficSnapshot);
+ metrics.queueDepthScore = calcQueueDepthScore(stationIdList, trafficSnapshot);
+ metrics.estimatedWaitSeconds = calcEstimatedWaitSeconds(stationIdList, trafficSnapshot);
+ metrics.deadlockRiskScore = calcDeadlockRiskScore(stationIdList, trafficSnapshot);
+ metrics.runBlockCount = countRunBlockCount(stationIdList, statusMap);
+ metrics.loopPenalty = calcLoopPenalty(stationIdList, stationLoopLoadMap);
+ metrics.passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
+ metrics.softDeviationCount = calcSoftDeviationCount(stationIdList,
+ ruleConfig == null ? null : ruleConfig.getSoft());
+
+ double softDeviationWeight = safeDouble(profileConfig.getS1SoftDeviationWeight(), 4.0d);
+ if (ruleConfig != null && ruleConfig.getSoft() != null && ruleConfig.getSoft().getDeviationWeight() != null) {
+ softDeviationWeight = ruleConfig.getSoft().getDeviationWeight();
+ }
+
+ double lenWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.lenWeightFactor;
+ 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
+ + safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
+ + passOtherOutStationPenaltyWeight * metrics.passOtherOutStationCount
+ + softDeviationWeight * metrics.softDeviationCount;
+
+ metrics.dynamicCost =
+ safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.congestionScore
+ + safeDouble(profileConfig.getS2QueueWeight(), 2.5d) * metrics.queueDepthScore
+ + safeDouble(profileConfig.getS2WaitWeight(), 1.5d) * (metrics.estimatedWaitSeconds / 60.0d)
+ + safeDouble(profileConfig.getS2DeadlockWeight(), 8.0d) * metrics.deadlockRiskScore
+ + safeDouble(profileConfig.getS2RunBlockWeight(), 10.0d) * metrics.runBlockCount
+ + safeDouble(profileConfig.getS2LoopLoadWeight(), 12.0d) * metrics.loopPenalty;
+ return metrics;
+ }
+
+ private int countTurnCount(List<NavigateNode> path) {
+ if (path == null || path.size() < 3) {
+ return 0;
+ }
+ int count = 0;
+ for (int i = 1; i < path.size() - 1; i++) {
+ NavigateNode prev = path.get(i - 1);
+ NavigateNode next = path.get(i + 1);
+ if (prev == null || next == null) {
+ continue;
+ }
+ if (prev.getX() != next.getX() && prev.getY() != next.getY()) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private int countLiftTransferCount(List<NavigateNode> path) {
+ int count = 0;
+ for (NavigateNode node : safeList(path)) {
+ try {
+ JSONObject valueObject = JSON.parseObject(node.getNodeValue());
+ if (valueObject == null) {
+ continue;
+ }
+ Object isLiftTransfer = valueObject.get("isLiftTransfer");
+ if (isLiftTransfer != null) {
+ String text = String.valueOf(isLiftTransfer);
+ if ("1".equals(text) || "true".equalsIgnoreCase(text)) {
+ count++;
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ }
+ return count;
+ }
+
+ private double calcCongestionScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
+ if (trafficSnapshot == null || trafficSnapshot.congestionScoreMap.isEmpty()) {
+ return 0.0d;
+ }
+ double score = 0.0d;
+ for (Integer stationId : stationIdList) {
+ score += trafficSnapshot.congestionScoreMap.getOrDefault(stationId, 0.0d);
+ }
+ return score;
+ }
+
+ private double calcQueueDepthScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
+ if (trafficSnapshot == null || trafficSnapshot.queueDepthMap.isEmpty()) {
+ return 0.0d;
+ }
+ double score = 0.0d;
+ for (Integer stationId : stationIdList) {
+ score += trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0);
+ }
+ return score;
+ }
+
+ private double calcEstimatedWaitSeconds(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
+ if (trafficSnapshot == null || trafficSnapshot.estimatedWaitSecondsMap.isEmpty()) {
+ return 0.0d;
+ }
+ double score = 0.0d;
+ for (Integer stationId : stationIdList) {
+ score += trafficSnapshot.estimatedWaitSecondsMap.getOrDefault(stationId, 0.0d);
+ }
+ return score;
+ }
+
+ private double calcDeadlockRiskScore(List<Integer> stationIdList, StationTrafficSnapshot trafficSnapshot) {
+ if (trafficSnapshot == null || trafficSnapshot.traceRouteList.isEmpty() || stationIdList == null || stationIdList.size() <= 1) {
+ return 0.0d;
+ }
+ List<Integer> candidateFutureStations = distinctPositiveStationIds(stationIdList.subList(1, stationIdList.size()));
+ if (candidateFutureStations.isEmpty()) {
+ return 0.0d;
+ }
+
+ double totalRisk = 0.0d;
+ for (TraceRouteSnapshot routeSnapshot : trafficSnapshot.traceRouteList) {
+ if (routeSnapshot == null) {
+ continue;
+ }
+ OverlapMetrics pendingMetrics = calcOrderedOverlapMetrics(candidateFutureStations, routeSnapshot.pendingStationIds);
+ OverlapMetrics issuedMetrics = calcOrderedOverlapMetrics(candidateFutureStations, routeSnapshot.issuedStationIds);
+
+ totalRisk += pendingMetrics.sequentialRisk * 0.9d;
+ totalRisk += issuedMetrics.sequentialRisk * 1.2d;
+ totalRisk += pendingMetrics.sharedCount * 0.12d;
+ totalRisk += issuedMetrics.sharedCount * 0.18d;
+
+ int currentHitIndex = findFirstOverlapIndex(candidateFutureStations, routeSnapshot.currentStationId);
+ if (currentHitIndex >= 0) {
+ totalRisk += prefixRiskFactor(currentHitIndex) * 1.5d;
+ }
+ }
+ return totalRisk;
+ }
+
+ private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
+ int count = 0;
+ for (Integer stationId : stationIdList) {
+ StationProtocol protocol = statusMap.get(stationId);
+ if (protocol != null && protocol.isRunBlock()) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private double calcLoopPenalty(List<Integer> stationIdList, Map<Integer, Double> stationLoopLoadMap) {
+ double maxLoad = 0.0d;
+ for (Integer stationId : stationIdList) {
+ Double load = stationLoopLoadMap.get(stationId);
+ if (load != null && load > maxLoad) {
+ maxLoad = load;
+ }
+ }
+ return maxLoad;
+ }
+
+ private int calcSoftDeviationCount(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
+ List<Integer> preferredPath = getSoftReferencePath(soft);
+ if (preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
+ return 0;
+ }
+ int missingCount = countMissingOrderedStations(stationIdList, preferredPath);
+ if (missingCount > 0) {
+ return missingCount;
+ }
+ if (isFullSoftPreferredPath(stationIdList, preferredPath)) {
+ return countOffPathStations(stationIdList, preferredPath);
+ }
+ return 0;
+ }
+
+ private List<Integer> extractStationIdList(List<NavigateNode> path) {
+ List<Integer> stationIdList = new ArrayList<>();
+ Set<Integer> seen = new HashSet<>();
+ for (NavigateNode node : safeList(path)) {
+ Integer stationId = extractStationId(node);
+ if (stationId == null) {
+ continue;
+ }
+ if (seen.add(stationId)) {
+ stationIdList.add(stationId);
+ }
+ }
+ return stationIdList;
+ }
+
+ private List<Integer> getSoftReferencePath(StationPathRuleConfig.SoftPreference soft) {
+ if (soft == null) {
+ return Collections.emptyList();
+ }
+ if (soft.getPreferredPath() != null && !soft.getPreferredPath().isEmpty()) {
+ return soft.getPreferredPath();
+ }
+ if (soft.getKeyStations() != null && !soft.getKeyStations().isEmpty()) {
+ return soft.getKeyStations();
+ }
+ return Collections.emptyList();
+ }
+
+ private boolean containsOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
+ return countMissingOrderedStations(stationIdList, targetStations) == 0;
+ }
+
+ private int countMissingOrderedStations(List<Integer> stationIdList, List<Integer> targetStations) {
+ if (stationIdList == null || stationIdList.isEmpty() || targetStations == null || targetStations.isEmpty()) {
+ return 0;
+ }
+ int cursor = 0;
+ for (Integer stationId : stationIdList) {
+ Integer expected = targetStations.get(cursor);
+ if (expected != null && expected.equals(stationId)) {
+ cursor++;
+ if (cursor >= targetStations.size()) {
+ return 0;
+ }
+ }
+ }
+ return targetStations.size() - cursor;
+ }
+
+ private boolean isFullSoftPreferredPath(List<Integer> stationIdList, List<Integer> preferredPath) {
+ if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.isEmpty()) {
+ return false;
+ }
+ Integer actualStart = stationIdList.get(0);
+ Integer actualEnd = stationIdList.get(stationIdList.size() - 1);
+ Integer preferredStart = preferredPath.get(0);
+ Integer preferredEnd = preferredPath.get(preferredPath.size() - 1);
+ return (actualStart == null ? preferredStart == null : actualStart.equals(preferredStart))
+ && (actualEnd == null ? preferredEnd == null : actualEnd.equals(preferredEnd));
+ }
+
+ private int countOffPathStations(List<Integer> stationIdList, List<Integer> preferredPath) {
+ if (stationIdList == null || stationIdList.isEmpty() || preferredPath == null || preferredPath.isEmpty()) {
+ return 0;
+ }
+ Set<Integer> preferredSet = new HashSet<>(preferredPath);
+ int count = 0;
+ for (int i = 1; i < stationIdList.size() - 1; i++) {
+ Integer stationId = stationIdList.get(i);
+ if (stationId != null && !preferredSet.contains(stationId)) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private List<List<NavigateNode>> filterNonAutoStationPaths(List<List<NavigateNode>> allList,
+ Map<Integer, StationProtocol> statusMap) {
+ if (allList == null || allList.isEmpty() || statusMap == null || statusMap.isEmpty()) {
+ return allList;
+ }
+
+ List<List<NavigateNode>> result = new ArrayList<>();
+ for (List<NavigateNode> path : allList) {
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ if (containsNonAutoStation(path, statusMap)) {
+ continue;
+ }
+ result.add(path);
+ }
+ return result;
+ }
+
+ private boolean containsNonAutoStation(List<NavigateNode> path, Map<Integer, StationProtocol> statusMap) {
+ for (Integer stationId : extractStationIdList(path)) {
+ StationProtocol protocol = statusMap.get(stationId);
+ if (protocol != null && !protocol.isAutoing()) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private Map<Integer, StationProtocol> loadStationStatusMap() {
+ Map<Integer, StationProtocol> statusMap = new HashMap<>();
+ try {
+ DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
+ if (deviceConfigService == null) {
+ return statusMap;
+ }
+ List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Devp)));
+ for (DeviceConfig deviceConfig : devpList) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+ Map<Integer, StationProtocol> map = stationThread.getStatusMap();
+ if (map != null && !map.isEmpty()) {
+ statusMap.putAll(map);
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ return statusMap;
+ }
+
+ private Map<Integer, Double> loadStationLoopLoadMap() {
+ Map<Integer, Double> stationLoopLoadMap = new HashMap<>();
+ try {
+ if (stationCycleCapacityService == null) {
+ return stationLoopLoadMap;
+ }
+ StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
+ if (capacityVo == null || capacityVo.getLoopList() == null) {
+ return stationLoopLoadMap;
+ }
+ for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
+ if (loopVo == null || loopVo.getStationIdList() == null) {
+ continue;
+ }
+ double currentLoad = loopVo.getCurrentLoad() == null ? 0.0d : loopVo.getCurrentLoad();
+ for (Integer stationId : loopVo.getStationIdList()) {
+ if (stationId != null) {
+ stationLoopLoadMap.put(stationId, currentLoad);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ return stationLoopLoadMap;
+ }
+
+ private LoopMergeGuardContext loadLoopMergeGuardContext() {
+ LoopMergeGuardContext context = new LoopMergeGuardContext();
+ try {
+ if (stationCycleCapacityService == null) {
+ return context;
+ }
+ StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
+ if (capacityVo == null || capacityVo.getLoopList() == null || capacityVo.getLoopList().isEmpty()) {
+ return context;
+ }
+
+ Map<Integer, Set<Integer>> stationGraph = loadUndirectedStationGraph();
+ if (stationGraph.isEmpty()) {
+ return context;
+ }
+
+ for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
+ List<Integer> rawStationIdList = loopVo == null ? Collections.emptyList() : loopVo.getStationIdList();
+ List<Integer> loopStationIdList = distinctPositiveStationIds(rawStationIdList);
+ if (loopStationIdList.size() < 3) {
+ continue;
+ }
+ Set<Integer> loopStationSet = new HashSet<>(loopStationIdList);
+ for (Integer stationId : loopStationSet) {
+ context.loopStationIdSet.add(stationId);
+ Set<Integer> graphNeighborSet = stationGraph.getOrDefault(stationId, Collections.emptySet());
+ Set<Integer> loopNeighborSet = new LinkedHashSet<>();
+ for (Integer neighborStationId : graphNeighborSet) {
+ if (neighborStationId != null && loopStationSet.contains(neighborStationId)) {
+ loopNeighborSet.add(neighborStationId);
+ }
+ }
+ if (!loopNeighborSet.isEmpty()) {
+ context.loopNeighborMap.computeIfAbsent(stationId, key -> new LinkedHashSet<>()).addAll(loopNeighborSet);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ return context;
+ }
+
+ private Set<LoopMergeEntry> resolveMandatoryLoopMergeEntrySet(List<List<NavigateNode>> candidatePathList,
+ LoopMergeGuardContext loopMergeGuardContext) {
+ if (candidatePathList == null || candidatePathList.isEmpty()
+ || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
+ return Collections.emptySet();
+ }
+
+ Set<LoopMergeEntry> intersectionSet = null;
+ for (List<NavigateNode> path : candidatePathList) {
+ Set<LoopMergeEntry> entrySet = extractLoopMergeEntrySet(path, loopMergeGuardContext);
+ if (intersectionSet == null) {
+ intersectionSet = new HashSet<>(entrySet);
+ } else {
+ intersectionSet.retainAll(entrySet);
+ }
+ if (intersectionSet.isEmpty()) {
+ return Collections.emptySet();
+ }
+ }
+ return intersectionSet == null ? Collections.emptySet() : intersectionSet;
+ }
+
+ private Set<LoopMergeEntry> extractLoopMergeEntrySet(List<NavigateNode> path,
+ LoopMergeGuardContext loopMergeGuardContext) {
+ Set<LoopMergeEntry> result = new HashSet<>();
+ if (path == null || path.size() < 2 || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
+ return result;
+ }
+
+ List<Integer> stationIdList = extractStationIdList(path);
+ for (int i = 1; i < stationIdList.size(); i++) {
+ Integer prevStationId = stationIdList.get(i - 1);
+ Integer currentStationId = stationIdList.get(i);
+ if (prevStationId == null || currentStationId == null) {
+ continue;
+ }
+ if (loopMergeGuardContext.loopStationIdSet.contains(prevStationId)
+ || !loopMergeGuardContext.loopStationIdSet.contains(currentStationId)) {
+ continue;
+ }
+ result.add(new LoopMergeEntry(prevStationId, currentStationId));
+ }
+ return result;
+ }
+
+ private Map<Integer, Set<Integer>> loadUndirectedStationGraph() {
+ Map<Integer, Set<Integer>> graph = new HashMap<>();
+ List<Integer> levList = loadStationLevList();
+ if (levList.isEmpty()) {
+ return graph;
+ }
+
+ NavigateSolution navigateSolution = new NavigateSolution();
+ for (Integer lev : levList) {
+ if (lev == null) {
+ continue;
+ }
+ List<List<NavigateNode>> stationMap;
+ try {
+ stationMap = navigateSolution.getStationMap(lev);
+ } catch (Exception ignore) {
+ continue;
+ }
+ if (stationMap == null || stationMap.isEmpty()) {
+ continue;
+ }
+
+ for (List<NavigateNode> row : stationMap) {
+ for (NavigateNode node : safeList(row)) {
+ Integer stationId = extractStationId(node);
+ if (stationId == null) {
+ continue;
+ }
+ graph.computeIfAbsent(stationId, key -> new LinkedHashSet<>());
+ List<NavigateNode> nextNodeList = navigateSolution.extend_current_node(stationMap, node);
+ for (NavigateNode nextNode : safeList(nextNodeList)) {
+ Integer nextStationId = extractStationId(nextNode);
+ if (nextStationId == null || stationId.equals(nextStationId)) {
+ continue;
+ }
+ graph.computeIfAbsent(nextStationId, key -> new LinkedHashSet<>());
+ graph.get(stationId).add(nextStationId);
+ graph.get(nextStationId).add(stationId);
+ }
+ }
+ }
+ }
+ return graph;
+ }
+
+ private List<Integer> loadStationLevList() {
+ List<Integer> levList = new ArrayList<>();
+ if (basStationService == null) {
+ return levList;
+ }
+ try {
+ List<BasStation> stationList = basStationService.list(new QueryWrapper<BasStation>().select("station_lev"));
+ Set<Integer> seen = new HashSet<>();
+ for (BasStation station : safeList(stationList)) {
+ Integer lev = station == null ? null : station.getStationLev();
+ if (lev != null && seen.add(lev)) {
+ levList.add(lev);
+ }
+ }
+ Collections.sort(levList);
+ } catch (Exception ignore) {
+ }
+ return levList;
+ }
+
+ private StationTrafficSnapshot loadStationTrafficSnapshot(Map<Integer, StationProtocol> statusMap, Integer currentTaskNo) {
+ StationTrafficSnapshot snapshot = new StationTrafficSnapshot();
+ Map<Integer, Integer> busyMap = new HashMap<>();
+ Map<Integer, Integer> issuedReserveMap = new HashMap<>();
+ Map<Integer, Integer> pendingQueueMap = new HashMap<>();
+
+ if (statusMap != null && !statusMap.isEmpty()) {
+ for (Map.Entry<Integer, StationProtocol> entry : statusMap.entrySet()) {
+ Integer stationId = entry.getKey();
+ StationProtocol protocol = entry.getValue();
+ if (stationId == null || protocol == null) {
+ continue;
+ }
+ if (protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
+ busyMap.put(stationId, 1);
+ }
+ }
+ }
+
+ for (StationTaskTraceVo traceVo : loadActiveTraceList(currentTaskNo, statusMap)) {
+ if (traceVo == null) {
+ continue;
+ }
+ List<Integer> pendingStationIds = distinctPositiveStationIds(traceVo.getPendingStationIds());
+ List<Integer> issuedStationIds = distinctPositiveStationIds(traceVo.getLatestIssuedSegmentPath());
+ TraceRouteSnapshot routeSnapshot = new TraceRouteSnapshot();
+ routeSnapshot.taskNo = traceVo.getTaskNo();
+ routeSnapshot.currentStationId = traceVo.getCurrentStationId();
+ routeSnapshot.pendingStationIds = pendingStationIds;
+ routeSnapshot.issuedStationIds = issuedStationIds;
+ snapshot.traceRouteList.add(routeSnapshot);
+ Set<Integer> pendingSet = new HashSet<>(pendingStationIds);
+ for (Integer stationId : issuedStationIds) {
+ if (stationId == null || !pendingSet.contains(stationId)) {
+ continue;
+ }
+ increaseIntMap(issuedReserveMap, stationId, 1);
+ }
+ Set<Integer> issuedSet = new HashSet<>(issuedStationIds);
+ for (Integer stationId : pendingStationIds) {
+ if (stationId == null || issuedSet.contains(stationId)) {
+ continue;
+ }
+ increaseIntMap(pendingQueueMap, stationId, 1);
+ }
+ }
+
+ Set<Integer> stationIdSet = new HashSet<>();
+ stationIdSet.addAll(busyMap.keySet());
+ stationIdSet.addAll(issuedReserveMap.keySet());
+ stationIdSet.addAll(pendingQueueMap.keySet());
+ if (statusMap != null) {
+ stationIdSet.addAll(statusMap.keySet());
+ }
+
+ for (Integer stationId : stationIdSet) {
+ if (stationId == null) {
+ continue;
+ }
+ int busyCount = busyMap.getOrDefault(stationId, 0);
+ int issuedReserveCount = issuedReserveMap.getOrDefault(stationId, 0);
+ int pendingQueueCount = pendingQueueMap.getOrDefault(stationId, 0);
+ boolean runBlock = false;
+ if (statusMap != null) {
+ StationProtocol protocol = statusMap.get(stationId);
+ runBlock = protocol != null && protocol.isRunBlock();
+ }
+
+ int queueDepth = issuedReserveCount + pendingQueueCount;
+ double congestionScore = busyCount * CONGESTION_BUSY_BASE
+ + issuedReserveCount * CONGESTION_ISSUED_RESERVE_BASE
+ + pendingQueueCount * CONGESTION_PENDING_QUEUE_BASE
+ + (runBlock ? CONGESTION_RUN_BLOCK_BASE : 0.0d);
+ double estimatedWaitSeconds = busyCount * WAIT_BUSY_SECONDS
+ + issuedReserveCount * WAIT_ISSUED_RESERVE_SECONDS
+ + pendingQueueCount * WAIT_PENDING_QUEUE_SECONDS
+ + (runBlock ? WAIT_RUN_BLOCK_SECONDS : 0.0d);
+
+ if (queueDepth > 0) {
+ snapshot.queueDepthMap.put(stationId, queueDepth);
+ }
+ if (congestionScore > 0.0d) {
+ snapshot.congestionScoreMap.put(stationId, congestionScore);
+ }
+ if (estimatedWaitSeconds > 0.0d) {
+ snapshot.estimatedWaitSecondsMap.put(stationId, estimatedWaitSeconds);
+ }
+ }
+ return snapshot;
+ }
+
+ private boolean isLoopMergePathAllowed(List<NavigateNode> path,
+ Map<Integer, StationProtocol> statusMap,
+ StationTrafficSnapshot trafficSnapshot,
+ LoopMergeGuardContext loopMergeGuardContext,
+ Set<LoopMergeEntry> mandatoryLoopMergeEntrySet) {
+ if (path == null || path.size() < 2 || loopMergeGuardContext == null || loopMergeGuardContext.loopStationIdSet.isEmpty()) {
+ return true;
+ }
+
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (stationIdList.size() < 2) {
+ return true;
+ }
+
+ for (int i = 1; i < stationIdList.size(); i++) {
+ Integer prevStationId = stationIdList.get(i - 1);
+ Integer currentStationId = stationIdList.get(i);
+ if (prevStationId == null || currentStationId == null) {
+ continue;
+ }
+ if (loopMergeGuardContext.loopStationIdSet.contains(prevStationId)
+ || !loopMergeGuardContext.loopStationIdSet.contains(currentStationId)) {
+ continue;
+ }
+
+ Set<Integer> trunkNeighborSet = loopMergeGuardContext.loopNeighborMap.getOrDefault(currentStationId, Collections.emptySet());
+ if (trunkNeighborSet.size() < 2) {
+ continue;
+ }
+
+ LoopMergeEntry currentEntry = new LoopMergeEntry(prevStationId, currentStationId);
+ for (Integer trunkNeighborStationId : trunkNeighborSet) {
+ if (isStationOccupiedForLoopMerge(trunkNeighborStationId, statusMap, trafficSnapshot)) {
+ return false;
+ }
+ }
+ boolean mandatoryEntry = mandatoryLoopMergeEntrySet != null && mandatoryLoopMergeEntrySet.contains(currentEntry);
+ if (!mandatoryEntry && !isLoopTrunkVeryIdle(currentStationId, loopMergeGuardContext, statusMap, trafficSnapshot)) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ private boolean isLoopTrunkVeryIdle(Integer mergeStationId,
+ LoopMergeGuardContext loopMergeGuardContext,
+ Map<Integer, StationProtocol> statusMap,
+ StationTrafficSnapshot trafficSnapshot) {
+ if (mergeStationId == null || loopMergeGuardContext == null) {
+ return false;
+ }
+ Set<Integer> guardStationIdSet = collectLoopNeighborWindow(mergeStationId, loopMergeGuardContext, 2);
+ if (guardStationIdSet.isEmpty()) {
+ return false;
+ }
+ for (Integer stationId : guardStationIdSet) {
+ if (isStationOccupiedForLoopMerge(stationId, statusMap, trafficSnapshot)) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ private Set<Integer> collectLoopNeighborWindow(Integer centerStationId,
+ LoopMergeGuardContext loopMergeGuardContext,
+ int depth) {
+ Set<Integer> visited = new LinkedHashSet<>();
+ if (centerStationId == null || depth < 0 || loopMergeGuardContext == null) {
+ return visited;
+ }
+
+ Set<Integer> frontier = new LinkedHashSet<>();
+ frontier.add(centerStationId);
+ visited.add(centerStationId);
+ for (int step = 0; step < depth; step++) {
+ Set<Integer> nextFrontier = new LinkedHashSet<>();
+ for (Integer stationId : frontier) {
+ for (Integer neighborStationId : loopMergeGuardContext.loopNeighborMap.getOrDefault(stationId, Collections.emptySet())) {
+ if (neighborStationId != null && visited.add(neighborStationId)) {
+ nextFrontier.add(neighborStationId);
+ }
+ }
+ }
+ if (nextFrontier.isEmpty()) {
+ break;
+ }
+ frontier = nextFrontier;
+ }
+ return visited;
+ }
+
+ private boolean isStationOccupiedForLoopMerge(Integer stationId,
+ Map<Integer, StationProtocol> statusMap,
+ StationTrafficSnapshot trafficSnapshot) {
+ if (stationId == null) {
+ return false;
+ }
+
+ StationProtocol protocol = statusMap == null ? null : statusMap.get(stationId);
+ if (protocol != null) {
+ if ((protocol.getTaskNo() != null && protocol.getTaskNo() > 0) || protocol.isRunBlock()) {
+ return true;
+ }
+ }
+
+ if (trafficSnapshot == null) {
+ return false;
+ }
+ if (trafficSnapshot.queueDepthMap.getOrDefault(stationId, 0) > 0) {
+ return true;
+ }
+
+ for (TraceRouteSnapshot routeSnapshot : trafficSnapshot.traceRouteList) {
+ if (routeSnapshot == null) {
+ continue;
+ }
+ if (stationId.equals(routeSnapshot.currentStationId)) {
+ return true;
+ }
+ if (containsStation(routeSnapshot.issuedStationIds, stationId)
+ || containsStation(routeSnapshot.pendingStationIds, stationId)) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private boolean containsStation(List<Integer> stationIdList, Integer stationId) {
+ if (stationId == null || stationIdList == null || stationIdList.isEmpty()) {
+ return false;
+ }
+ for (Integer currentStationId : stationIdList) {
+ if (stationId.equals(currentStationId)) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo, Map<Integer, StationProtocol> statusMap) {
+ Map<Integer, StationTaskTraceVo> traceMap = new LinkedHashMap<>();
+ if (stationTaskTraceRegistry != null) {
+ try {
+ List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listLatestTraces();
+ if (traceList != null) {
+ for (StationTaskTraceVo traceVo : traceList) {
+ if (!isPlanningActiveTrace(traceVo)) {
+ continue;
+ }
+ if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
+ continue;
+ }
+ if (traceVo.getTaskNo() != null) {
+ traceMap.put(traceVo.getTaskNo(), traceVo);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+ }
+ Map<Integer, StationTaskTraceVo> fallbackTraceMap = loadFallbackActiveTraceMap(currentTaskNo, statusMap, traceMap.keySet());
+ if (!fallbackTraceMap.isEmpty()) {
+ traceMap.putAll(fallbackTraceMap);
+ }
+ return new ArrayList<>(traceMap.values());
+ }
+
+ private boolean isPlanningActiveTrace(StationTaskTraceVo traceVo) {
+ if (traceVo == null) {
+ return false;
+ }
+ String status = traceVo.getStatus();
+ return StationTaskTraceRegistry.STATUS_WAITING.equals(status)
+ || StationTaskTraceRegistry.STATUS_RUNNING.equals(status)
+ || StationTaskTraceRegistry.STATUS_REROUTED.equals(status);
+ }
+
+ private Map<Integer, StationTaskTraceVo> loadFallbackActiveTraceMap(Integer currentTaskNo,
+ Map<Integer, StationProtocol> statusMap,
+ Set<Integer> existingTaskNoSet) {
+ if (basStationOptService == null || statusMap == null || statusMap.isEmpty()) {
+ return Collections.emptyMap();
+ }
+
+ Map<Integer, StationProtocol> activeTaskProtocolMap = new LinkedHashMap<>();
+ for (StationProtocol protocol : statusMap.values()) {
+ if (protocol == null || protocol.getTaskNo() == null || protocol.getTaskNo() <= 0) {
+ continue;
+ }
+ if (!Boolean.TRUE.equals(protocol.isLoading())) {
+ continue;
+ }
+ if (currentTaskNo != null && currentTaskNo.equals(protocol.getTaskNo())) {
+ continue;
+ }
+ if (existingTaskNoSet != null && existingTaskNoSet.contains(protocol.getTaskNo())) {
+ continue;
+ }
+ activeTaskProtocolMap.putIfAbsent(protocol.getTaskNo(), protocol);
+ }
+ if (activeTaskProtocolMap.isEmpty()) {
+ return Collections.emptyMap();
+ }
+
+ List<Integer> taskNoList = new ArrayList<>(activeTaskProtocolMap.keySet());
+ int limit = Math.max(50, taskNoList.size() * 8);
+ List<BasStationOpt> optList;
+ try {
+ optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
+ .select("id", "task_no", "send_time", "command", "mode", "send", "target_station_id")
+ .in("task_no", taskNoList)
+ .eq("send", 1)
+ .orderByDesc("send_time")
+ .last("limit " + limit));
+ } catch (Exception ignore) {
+ return Collections.emptyMap();
+ }
+ if (optList == null || optList.isEmpty()) {
+ return Collections.emptyMap();
+ }
+
+ Map<Integer, List<FallbackMoveCommand>> fallbackCommandMap = new LinkedHashMap<>();
+ for (BasStationOpt opt : optList) {
+ FallbackMoveCommand moveCommand = parseFallbackMoveCommand(opt);
+ if (moveCommand == null || moveCommand.taskNo == null) {
+ continue;
+ }
+ if (!activeTaskProtocolMap.containsKey(moveCommand.taskNo)) {
+ continue;
+ }
+ fallbackCommandMap.computeIfAbsent(moveCommand.taskNo, key -> new ArrayList<>()).add(moveCommand);
+ }
+
+ Map<Integer, StationTaskTraceVo> result = new LinkedHashMap<>();
+ for (Map.Entry<Integer, StationProtocol> entry : activeTaskProtocolMap.entrySet()) {
+ Integer taskNo = entry.getKey();
+ StationProtocol protocol = entry.getValue();
+ StationTaskTraceVo fallbackTrace = buildFallbackTraceVo(taskNo, protocol, fallbackCommandMap.get(taskNo));
+ if (fallbackTrace != null) {
+ result.put(taskNo, fallbackTrace);
+ }
+ }
+ return result;
+ }
+
+ private FallbackMoveCommand parseFallbackMoveCommand(BasStationOpt opt) {
+ if (opt == null || opt.getTaskNo() == null || opt.getTaskNo() <= 0) {
+ return null;
+ }
+ try {
+ StationCommand command = JSON.parseObject(opt.getCommand(), StationCommand.class);
+ if (command == null || command.getCommandType() != StationCommandType.MOVE) {
+ return null;
+ }
+ List<Integer> navigatePath = distinctPositiveStationIds(command.getNavigatePath());
+ if (navigatePath.isEmpty()) {
+ return null;
+ }
+ FallbackMoveCommand item = new FallbackMoveCommand();
+ item.taskNo = opt.getTaskNo();
+ item.traceVersion = command.getTraceVersion();
+ item.segmentNo = command.getSegmentNo();
+ item.segmentCount = command.getSegmentCount();
+ item.stationId = command.getStationId();
+ item.targetStaNo = command.getTargetStaNo();
+ item.navigatePath = navigatePath;
+ item.sendTime = opt.getSendTime();
+ return item;
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private StationTaskTraceVo buildFallbackTraceVo(Integer taskNo,
+ StationProtocol protocol,
+ List<FallbackMoveCommand> commandList) {
+ if (taskNo == null || protocol == null || commandList == null || commandList.isEmpty()) {
+ return null;
+ }
+
+ Integer latestTraceVersion = null;
+ long latestTimestamp = 0L;
+ for (FallbackMoveCommand item : commandList) {
+ if (item == null) {
+ continue;
+ }
+ if (item.traceVersion != null && (latestTraceVersion == null || item.traceVersion > latestTraceVersion)) {
+ latestTraceVersion = item.traceVersion;
+ }
+ long ts = item.sendTime == null ? 0L : item.sendTime.getTime();
+ if (ts > latestTimestamp) {
+ latestTimestamp = ts;
+ }
+ }
+
+ List<FallbackMoveCommand> sameTraceCommandList = new ArrayList<>();
+ for (FallbackMoveCommand item : commandList) {
+ if (item == null) {
+ continue;
+ }
+ if (latestTraceVersion == null || latestTraceVersion.equals(item.traceVersion)) {
+ sameTraceCommandList.add(item);
+ }
+ }
+ sameTraceCommandList.sort((a, b) -> {
+ int av = a.segmentNo == null ? Integer.MAX_VALUE : a.segmentNo;
+ int bv = b.segmentNo == null ? Integer.MAX_VALUE : b.segmentNo;
+ if (av != bv) {
+ return Integer.compare(av, bv);
+ }
+ long at = a.sendTime == null ? 0L : a.sendTime.getTime();
+ long bt = b.sendTime == null ? 0L : b.sendTime.getTime();
+ return Long.compare(at, bt);
+ });
+
+ List<Integer> issuedPath = new ArrayList<>();
+ List<StationTaskTraceSegmentVo> segmentList = new ArrayList<>();
+ FallbackMoveCommand latestCommand = null;
+ for (FallbackMoveCommand item : sameTraceCommandList) {
+ if (item == null || item.navigatePath == null || item.navigatePath.isEmpty()) {
+ continue;
+ }
+ appendMergedPath(issuedPath, item.navigatePath);
+ segmentList.add(toTraceSegment(item));
+ if (latestCommand == null || compareFallbackCommand(item, latestCommand) > 0) {
+ latestCommand = item;
+ }
+ }
+ if (issuedPath.isEmpty()) {
+ return null;
+ }
+
+ Integer currentStationId = protocol.getStationId();
+ List<Integer> passedStationIds = new ArrayList<>();
+ List<Integer> pendingStationIds = new ArrayList<>();
+ if (currentStationId != null) {
+ int currentIndex = issuedPath.indexOf(currentStationId);
+ if (currentIndex >= 0) {
+ passedStationIds = copyIntegerSubList(issuedPath, 0, currentIndex);
+ pendingStationIds = copyIntegerSubList(issuedPath, currentIndex + 1, issuedPath.size());
+ } else {
+ pendingStationIds = new ArrayList<>(issuedPath);
+ }
+ } else {
+ pendingStationIds = new ArrayList<>(issuedPath);
+ }
+
+ StationTaskTraceVo vo = new StationTaskTraceVo();
+ vo.setTaskNo(taskNo);
+ vo.setThreadImpl("DB_FALLBACK");
+ vo.setStatus(StationTaskTraceRegistry.STATUS_RUNNING);
+ vo.setTraceVersion(latestTraceVersion == null ? 1 : latestTraceVersion);
+ vo.setStartStationId(issuedPath.isEmpty() ? null : issuedPath.get(0));
+ vo.setCurrentStationId(currentStationId);
+ vo.setFinalTargetStationId(protocol.getTargetStaNo() != null ? protocol.getTargetStaNo()
+ : latestCommand == null ? null : latestCommand.targetStaNo);
+ vo.setBlockedStationId(null);
+ vo.setFullPathStationIds(new ArrayList<>(issuedPath));
+ vo.setIssuedStationIds(new ArrayList<>(issuedPath));
+ vo.setPassedStationIds(passedStationIds);
+ vo.setPendingStationIds(pendingStationIds);
+ vo.setLatestIssuedSegmentPath(latestCommand == null ? Collections.emptyList() : new ArrayList<>(latestCommand.navigatePath));
+ vo.setSegmentList(segmentList);
+ vo.setIssuedSegmentCount(segmentList.size());
+ vo.setTotalSegmentCount(latestCommand == null || latestCommand.segmentCount == null
+ ? segmentList.size()
+ : latestCommand.segmentCount);
+ vo.setUpdatedAt(latestTimestamp > 0L ? latestTimestamp : System.currentTimeMillis());
+ vo.setEvents(Collections.emptyList());
+ return vo;
+ }
+
+ private int compareFallbackCommand(FallbackMoveCommand a, FallbackMoveCommand b) {
+ int av = a == null || a.segmentNo == null ? Integer.MIN_VALUE : a.segmentNo;
+ int bv = b == null || b.segmentNo == null ? Integer.MIN_VALUE : b.segmentNo;
+ if (av != bv) {
+ return Integer.compare(av, bv);
+ }
+ long at = a == null || a.sendTime == null ? 0L : a.sendTime.getTime();
+ long bt = b == null || b.sendTime == null ? 0L : b.sendTime.getTime();
+ return Long.compare(at, bt);
+ }
+
+ private StationTaskTraceSegmentVo toTraceSegment(FallbackMoveCommand item) {
+ StationTaskTraceSegmentVo segmentVo = new StationTaskTraceSegmentVo();
+ if (item == null) {
+ return segmentVo;
+ }
+ segmentVo.setSegmentNo(item.segmentNo);
+ segmentVo.setSegmentCount(item.segmentCount);
+ segmentVo.setStationId(item.stationId);
+ segmentVo.setTargetStationId(item.targetStaNo);
+ segmentVo.setSegmentPath(item.navigatePath == null ? Collections.emptyList() : new ArrayList<>(item.navigatePath));
+ segmentVo.setIssued(Boolean.TRUE);
+ return segmentVo;
+ }
+
+ private void appendMergedPath(List<Integer> target, List<Integer> source) {
+ if (target == null || source == null || source.isEmpty()) {
+ return;
+ }
+ if (target.isEmpty()) {
+ target.addAll(source);
+ return;
+ }
+ int overlap = 0;
+ int maxOverlap = Math.min(target.size(), source.size());
+ for (int size = maxOverlap; size >= 1; size--) {
+ boolean matched = true;
+ for (int i = 0; i < size; i++) {
+ Integer left = target.get(target.size() - size + i);
+ Integer right = source.get(i);
+ if (left == null || !left.equals(right)) {
+ matched = false;
+ break;
+ }
+ }
+ if (matched) {
+ overlap = size;
+ break;
+ }
+ }
+ for (int i = overlap; i < source.size(); i++) {
+ Integer stationId = source.get(i);
+ if (stationId != null) {
+ target.add(stationId);
+ }
+ }
+ }
+
+ private List<Integer> copyIntegerSubList(List<Integer> source, int fromIndex, int toIndex) {
+ if (source == null || source.isEmpty()) {
+ return new ArrayList<>();
+ }
+ int from = Math.max(0, fromIndex);
+ int to = Math.min(source.size(), Math.max(from, toIndex));
+ List<Integer> result = new ArrayList<>();
+ for (int i = from; i < to; i++) {
+ Integer value = source.get(i);
+ if (value != null) {
+ result.add(value);
+ }
+ }
+ return result;
+ }
+
+ private List<Integer> distinctPositiveStationIds(List<Integer> stationIdList) {
+ if (stationIdList == null || stationIdList.isEmpty()) {
+ return Collections.emptyList();
+ }
+ List<Integer> result = new ArrayList<>();
+ Set<Integer> seen = new HashSet<>();
+ for (Integer stationId : stationIdList) {
+ if (stationId == null || stationId <= 0) {
+ continue;
+ }
+ if (seen.add(stationId)) {
+ result.add(stationId);
+ }
+ }
+ return result;
+ }
+
+ private void increaseIntMap(Map<Integer, Integer> target, Integer stationId, int delta) {
+ if (target == null || stationId == null || delta == 0) {
+ return;
+ }
+ target.put(stationId, target.getOrDefault(stationId, 0) + delta);
+ }
+
+ private OverlapMetrics calcOrderedOverlapMetrics(List<Integer> candidateStations, List<Integer> routeStations) {
+ OverlapMetrics metrics = new OverlapMetrics();
+ if (candidateStations == null || candidateStations.isEmpty() || routeStations == null || routeStations.isEmpty()) {
+ return metrics;
+ }
+
+ Map<Integer, Integer> routeIndexMap = new HashMap<>();
+ for (int i = 0; i < routeStations.size(); i++) {
+ Integer stationId = routeStations.get(i);
+ if (stationId != null && !routeIndexMap.containsKey(stationId)) {
+ routeIndexMap.put(stationId, i);
+ }
+ }
+ if (routeIndexMap.isEmpty()) {
+ return metrics;
+ }
+
+ for (int i = 0; i < candidateStations.size(); i++) {
+ Integer stationId = candidateStations.get(i);
+ if (stationId != null && routeIndexMap.containsKey(stationId)) {
+ metrics.sharedCount++;
+ }
+ }
+
+ for (int candidateStart = 0; candidateStart < candidateStations.size(); candidateStart++) {
+ Integer firstStation = candidateStations.get(candidateStart);
+ Integer routeStart = routeIndexMap.get(firstStation);
+ if (routeStart == null) {
+ continue;
+ }
+
+ int length = 1;
+ int prevRouteIndex = routeStart;
+ for (int j = candidateStart + 1; j < candidateStations.size(); j++) {
+ Integer nextRouteIndex = routeIndexMap.get(candidateStations.get(j));
+ if (nextRouteIndex == null || nextRouteIndex.intValue() != prevRouteIndex + 1) {
+ break;
+ }
+ length++;
+ prevRouteIndex = nextRouteIndex;
+ }
+
+ double risk = length * prefixRiskFactor(candidateStart);
+ if (risk > metrics.sequentialRisk) {
+ metrics.sequentialRisk = risk;
+ }
+ }
+ return metrics;
+ }
+
+ private int findFirstOverlapIndex(List<Integer> stationIdList, Integer targetStationId) {
+ if (stationIdList == null || stationIdList.isEmpty() || targetStationId == null) {
+ return -1;
+ }
+ for (int i = 0; i < stationIdList.size(); i++) {
+ Integer stationId = stationIdList.get(i);
+ if (targetStationId.equals(stationId)) {
+ return i;
+ }
+ }
+ return -1;
+ }
+
+ private double prefixRiskFactor(int candidateIndex) {
+ if (candidateIndex < 0) {
+ return 0.0d;
+ }
+ if (candidateIndex >= DEADLOCK_PREFIX_LOOKAHEAD) {
+ return 0.15d;
+ }
+ return (double) (DEADLOCK_PREFIX_LOOKAHEAD - candidateIndex) / (double) DEADLOCK_PREFIX_LOOKAHEAD;
+ }
+
+ private int compareDouble(double left, double right, int thenLeft1, int thenRight1, int thenLeft2, int thenRight2) {
+ int result = Double.compare(left, right);
+ if (result != 0) {
+ return result;
+ }
+ result = Integer.compare(thenLeft1, thenRight1);
+ if (result != 0) {
+ return result;
+ }
+ return Integer.compare(thenLeft2, thenRight2);
+ }
+
+ private int safeInt(Integer value, int defaultValue) {
+ return value == null ? defaultValue : value;
+ }
+
+ private double safeDouble(Double value, double defaultValue) {
+ return value == null ? defaultValue : value;
+ }
+
+ private boolean notBlank(String text) {
+ return text != null && !text.trim().isEmpty();
+ }
+
+ private <T> List<T> safeList(List<T> list) {
+ return list == null ? Collections.emptyList() : list;
+ }
+
+ private static class PathCandidateMetrics {
+ private List<NavigateNode> path;
+ private int pathLen;
+ private int turnCount;
+ private int liftTransferCount;
+ private int passOtherOutStationCount;
+ private double congestionScore;
+ private double queueDepthScore;
+ private double estimatedWaitSeconds;
+ private double deadlockRiskScore;
+ private int runBlockCount;
+ private int softDeviationCount;
+ private double loopPenalty;
+ private double staticCost;
+ private double dynamicCost;
+ }
+
+ private static class StationTrafficSnapshot {
+ private final Map<Integer, Double> congestionScoreMap = new HashMap<>();
+ private final Map<Integer, Integer> queueDepthMap = new HashMap<>();
+ private final Map<Integer, Double> estimatedWaitSecondsMap = new HashMap<>();
+ private final List<TraceRouteSnapshot> traceRouteList = new ArrayList<>();
+ }
+
+ private static class TraceRouteSnapshot {
+ private Integer taskNo;
+ private Integer currentStationId;
+ private List<Integer> pendingStationIds = Collections.emptyList();
+ private List<Integer> issuedStationIds = Collections.emptyList();
+ }
+
+ private static class OverlapMetrics {
+ private int sharedCount;
+ private double sequentialRisk;
+ }
+
+ private static class FallbackMoveCommand {
+ private Integer taskNo;
+ private Integer traceVersion;
+ private Integer segmentNo;
+ private Integer segmentCount;
+ private Integer stationId;
+ private Integer targetStaNo;
+ private List<Integer> navigatePath = Collections.emptyList();
+ private Date sendTime;
+ }
+
+ private static class LoopMergeGuardContext {
+ private final Set<Integer> loopStationIdSet = new HashSet<>();
+ private final Map<Integer, Set<Integer>> loopNeighborMap = new HashMap<>();
+ }
+
+ private static class LoopMergeEntry {
+ private final Integer fromStationId;
+ private final Integer toStationId;
+
+ private LoopMergeEntry(Integer fromStationId, Integer toStationId) {
+ this.fromStationId = fromStationId;
+ this.toStationId = toStationId;
+ }
+
+ @Override
+ public boolean equals(Object obj) {
+ if (this == obj) {
+ return true;
+ }
+ if (!(obj instanceof LoopMergeEntry)) {
+ return false;
+ }
+ LoopMergeEntry other = (LoopMergeEntry) obj;
+ return (fromStationId == null ? other.fromStationId == null : fromStationId.equals(other.fromStationId))
+ && (toStationId == null ? other.toStationId == null : toStationId.equals(other.toStationId));
+ }
+
+ @Override
+ public int hashCode() {
+ int result = fromStationId == null ? 0 : fromStationId.hashCode();
+ result = 31 * result + (toStationId == null ? 0 : toStationId.hashCode());
+ return result;
+ }
+ }
+
+ private static class PathGlobalPolicy {
+ private double lenWeightFactor = 1.0d;
+ private double congWeightFactor = 1.0d;
+ private double passOtherOutStationPenaltyWeight = 0.0d;
+ private boolean forceSkipPassOtherOutStation = false;
+ }
+ private PathGlobalPolicy loadPathGlobalPolicy(StationPathProfileConfig profileConfig) {
+ PathGlobalPolicy weights = new PathGlobalPolicy();
+ StationPathProfileConfig source = profileConfig == null ? StationPathProfileConfig.defaultConfig() : profileConfig;
+ double lenWeightPercent = safeDouble(source.getStationPathLenWeightPercent(), 50.0d);
+ double congWeightPercent = safeDouble(source.getStationPathCongWeightPercent(), 50.0d);
+ double passOtherOutStationWeightPercent = safeDouble(source.getStationPathPassOtherOutStationWeightPercent(), 100.0d);
+ weights.forceSkipPassOtherOutStation = Boolean.TRUE.equals(source.getStationPathPassOtherOutStationForceSkip());
+
+ lenWeightPercent = Math.max(lenWeightPercent, 0.0d);
+ congWeightPercent = Math.max(congWeightPercent, 0.0d);
+ passOtherOutStationWeightPercent = Math.max(passOtherOutStationWeightPercent, 0.0d);
+ double weightSum = lenWeightPercent + congWeightPercent;
+ if (weightSum <= 0) {
+ weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
+ return weights;
+ }
+
+ weights.lenWeightFactor = (lenWeightPercent / weightSum) * 2.0d;
+ weights.congWeightFactor = (congWeightPercent / weightSum) * 2.0d;
+ weights.passOtherOutStationPenaltyWeight = passOtherOutStationWeightPercent / 100.0d * 8.0d;
+ return weights;
+ }
+
+ private Set<Integer> loadAllOutStationIdSet() {
+ Set<Integer> outStationIdSet = new HashSet<>();
+ try {
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ if (basDevpService == null) {
+ return outStationIdSet;
+ }
+ List<BasDevp> basDevpList = basDevpService.list(new QueryWrapper<BasDevp>().eq("status", 1));
+ for (BasDevp basDevp : basDevpList) {
+ List<StationObjModel> outStationList = basDevp.getOutStationList$();
+ for (StationObjModel stationObjModel : outStationList) {
+ if (stationObjModel != null && stationObjModel.getStationId() != null) {
+ outStationIdSet.add(stationObjModel.getStationId());
+ }
}
}
} catch (Exception ignore) {}
+ return outStationIdSet;
+ }
- double weightSum = lenWeightPercent + congWeightPercent;
- double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
- double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
-
- List<NavigateNode> best = null;
- double bestCost = Double.MAX_VALUE;
- int bestTasks = Integer.MAX_VALUE;
- int bestLen = Integer.MAX_VALUE;
- for (int i = 0; i < candidates.size(); i++) {
- int l = lens.get(i);
- int t = tasksList.get(i);
- double c = congs.get(i);
- //褰掍竴鍖�
- double lenNorm = (maxLen - minLen) <= 0 ? 0.0 : (l - minLen) / (double) (maxLen - minLen);
- double congNorm = (maxCong - minCong) <= 0 ? 0.0 : (c - minCong) / (double) (maxCong - minCong);
- //鑾峰彇鏉冮噸
- double cost = lenNorm * lenW + congNorm * congW;
- if (cost < bestCost
- || (cost == bestCost && t < bestTasks)
- || (cost == bestCost && t == bestTasks && l < bestLen)) {
- best = candidates.get(i);
- bestCost = cost;
- bestTasks = t;
- bestLen = l;
+ private int countPassOtherOutStations(List<NavigateNode> path, Set<Integer> outStationIdSet) {
+ if (path == null || path.size() < 3 || outStationIdSet == null || outStationIdSet.isEmpty()) {
+ return 0;
+ }
+ Integer startStationId = extractStationId(path.get(0));
+ Integer endStationId = extractStationId(path.get(path.size() - 1));
+ Set<Integer> hitStationIdSet = new HashSet<>();
+ for (int i = 1; i < path.size() - 1; i++) {
+ Integer stationId = extractStationId(path.get(i));
+ if (stationId == null) {
+ continue;
+ }
+ if (startStationId != null && startStationId.equals(stationId)) {
+ continue;
+ }
+ if (endStationId != null && endStationId.equals(stationId)) {
+ continue;
+ }
+ if (outStationIdSet.contains(stationId)) {
+ hitStationIdSet.add(stationId);
}
}
+ return hitStationIdSet.size();
+ }
- if (best == null) {
- return allList.get(0);
+ private Integer extractStationId(NavigateNode node) {
+ if (node == null || node.getNodeValue() == null) {
+ return null;
}
- return best;
+ try {
+ JSONObject value = JSON.parseObject(node.getNodeValue());
+ if (value == null) {
+ return null;
+ }
+ return value.getInteger("stationId");
+ } catch (Exception ignore) {}
+ return null;
}
//鍒ゆ柇褰撳墠鑺傜偣鍒颁笅涓�涓妭鐐规槸鍚︿负鎷愮偣
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