From eb7936b4b850ce1093b3d4ebac797230a59ca373 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 20 三月 2026 17:25:24 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 351 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 339 insertions(+), 12 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 0ec6e2c..024ac05 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -11,6 +11,7 @@
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.StationTaskTraceVo;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.BasDevp;
@@ -36,9 +37,20 @@
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
+import com.zy.core.trace.StationTaskTraceRegistry;
@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;
@@ -46,8 +58,14 @@
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�");
@@ -101,7 +119,7 @@
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 = findStationBestPathTwoStage(allList, resolvedPolicy);
+ 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
@@ -259,7 +277,9 @@
return new StationPathResolvedPolicy();
}
- private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList, StationPathResolvedPolicy resolvedPolicy) {
+ private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
+ StationPathResolvedPolicy resolvedPolicy,
+ Integer currentTaskNo) {
if (allList == null || allList.isEmpty()) {
return new ArrayList<>();
}
@@ -297,6 +317,7 @@
Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
Map<Integer, Double> stationLoopLoadMap = loadStationLoopLoadMap();
+ StationTrafficSnapshot trafficSnapshot = loadStationTrafficSnapshot(statusMap, currentTaskNo);
Set<Integer> outStationIdSet = loadAllOutStationIdSet();
List<PathCandidateMetrics> metricsList = new ArrayList<>();
int skippedByOtherOutStation = 0;
@@ -304,7 +325,7 @@
if (path == null || path.isEmpty()) {
continue;
}
- PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
+ PathCandidateMetrics metrics = buildCandidateMetrics(path, statusMap, stationLoopLoadMap, trafficSnapshot, profileConfig, ruleConfig, globalPolicy, outStationIdSet);
if (globalPolicy.forceSkipPassOtherOutStation && metrics.passOtherOutStationCount > 0) {
skippedByOtherOutStation++;
continue;
@@ -563,6 +584,7 @@
private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
Map<Integer, StationProtocol> statusMap,
Map<Integer, Double> stationLoopLoadMap,
+ StationTrafficSnapshot trafficSnapshot,
StationPathProfileConfig profileConfig,
StationPathRuleConfig ruleConfig,
PathGlobalPolicy globalPolicy,
@@ -574,7 +596,10 @@
metrics.liftTransferCount = countLiftTransferCount(path);
List<Integer> stationIdList = extractStationIdList(path);
- metrics.busyStationCount = countBusyStationCount(stationIdList, statusMap);
+ 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);
@@ -598,7 +623,10 @@
+ softDeviationWeight * metrics.softDeviationCount;
metrics.dynamicCost =
- safeDouble(profileConfig.getS2BusyWeight(), 2.0d) * congWeightFactor * metrics.busyStationCount
+ 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;
@@ -643,15 +671,67 @@
return count;
}
- private int countBusyStationCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
- int count = 0;
+ 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) {
- StationProtocol protocol = statusMap.get(stationId);
- if (protocol != null && protocol.getTaskNo() != null && protocol.getTaskNo() > 0) {
- count++;
+ 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 count;
+ return totalRisk;
}
private int countRunBlockCount(List<Integer> stationIdList, Map<Integer, StationProtocol> statusMap) {
@@ -846,6 +926,231 @@
return stationLoopLoadMap;
}
+ 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)) {
+ 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 List<StationTaskTraceVo> loadActiveTraceList(Integer currentTaskNo) {
+ if (stationTaskTraceRegistry == null) {
+ return Collections.emptyList();
+ }
+ List<StationTaskTraceVo> traceList;
+ try {
+ traceList = stationTaskTraceRegistry.listLatestTraces();
+ } catch (Exception ignore) {
+ return Collections.emptyList();
+ }
+ if (traceList == null || traceList.isEmpty()) {
+ return Collections.emptyList();
+ }
+
+ List<StationTaskTraceVo> result = new ArrayList<>();
+ for (StationTaskTraceVo traceVo : traceList) {
+ if (!isPlanningActiveTrace(traceVo)) {
+ continue;
+ }
+ if (currentTaskNo != null && currentTaskNo.equals(traceVo.getTaskNo())) {
+ continue;
+ }
+ result.add(traceVo);
+ }
+ return result;
+ }
+
+ 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 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) {
@@ -880,7 +1185,10 @@
private int turnCount;
private int liftTransferCount;
private int passOtherOutStationCount;
- private int busyStationCount;
+ private double congestionScore;
+ private double queueDepthScore;
+ private double estimatedWaitSeconds;
+ private double deadlockRiskScore;
private int runBlockCount;
private int softDeviationCount;
private double loopPenalty;
@@ -888,6 +1196,25 @@
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 PathGlobalPolicy {
private double lenWeightFactor = 1.0d;
private double congWeightFactor = 1.0d;
--
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