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 | 843 ++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 614 insertions(+), 229 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 1529d69..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;
@@ -36,16 +37,20 @@
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;
@Component
public class NavigateUtils {
- private static final String CFG_STATION_PATH_LEN_WEIGHT_PERCENT = "stationPathLenWeightPercent";
- private static final String CFG_STATION_PATH_CONG_WEIGHT_PERCENT = "stationPathCongWeightPercent";
- private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT = "stationPathPassOtherOutStationWeightPercent";
- private static final String CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP = "stationPathPassOtherOutStationForceSkip";
+ 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;
@@ -53,8 +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�");
@@ -81,21 +92,34 @@
long startTime = System.currentTimeMillis();
News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={}", startStationId, endStationId);
- int calcMaxDepth = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxDepth(), 120) : 120;
- int calcMaxPaths = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxPaths(), 500) : 500;
- int calcMaxCost = resolvedPolicy.useTwoStage() ? safeInt(profileConfig.getCalcMaxCost(), 300) : 300;
- List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, calcMaxDepth, calcMaxPaths, calcMaxCost);
+ 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 = resolvedPolicy.useTwoStage()
- ? findStationBestPathTwoStage(allList, resolvedPolicy)
- : 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
@@ -248,12 +272,14 @@
}
}
} catch (Exception e) {
- News.warn("绔欑偣璺緞绛栫暐鍔犺浇澶辫触锛屽洖閫� legacy: {}", e.getMessage());
+ 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) {
+ private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
+ StationPathResolvedPolicy resolvedPolicy,
+ Integer currentTaskNo) {
if (allList == null || allList.isEmpty()) {
return new ArrayList<>();
}
@@ -264,11 +290,21 @@
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()) {
@@ -281,14 +317,27 @@
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;
for (List<NavigateNode> path : filteredCandidates) {
if (path == null || path.isEmpty()) {
continue;
}
- metricsList.add(buildCandidateMetrics(path, statusMap, stationLoopLoadMap, profileConfig, ruleConfig));
+ 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());
+ }
return new ArrayList<>();
}
@@ -336,6 +385,31 @@
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);
@@ -391,6 +465,24 @@
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
@@ -398,10 +490,64 @@
&& !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();
+ }
+
+ List<Integer> sequence = new ArrayList<>();
+ appendGuideStation(sequence, startStationId);
+
+ 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));
+ }
+ 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) {
@@ -438,8 +584,11 @@
private PathCandidateMetrics buildCandidateMetrics(List<NavigateNode> path,
Map<Integer, StationProtocol> statusMap,
Map<Integer, Double> stationLoopLoadMap,
+ StationTrafficSnapshot trafficSnapshot,
StationPathProfileConfig profileConfig,
- StationPathRuleConfig ruleConfig) {
+ StationPathRuleConfig ruleConfig,
+ PathGlobalPolicy globalPolicy,
+ Set<Integer> outStationIdSet) {
PathCandidateMetrics metrics = new PathCandidateMetrics();
metrics.path = path;
metrics.pathLen = path.size();
@@ -447,25 +596,37 @@
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);
metrics.softDeviationCount = calcSoftDeviationCount(stationIdList,
- ruleConfig == null || ruleConfig.getSoft() == null ? null : ruleConfig.getSoft().getPreferredPath());
+ 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) * metrics.pathLen
+ 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) * 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;
@@ -510,15 +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) {
@@ -543,19 +756,19 @@
return maxLoad;
}
- private int calcSoftDeviationCount(List<Integer> stationIdList, List<Integer> preferredPath) {
- if (preferredPath == null || preferredPath.isEmpty() || stationIdList == null || stationIdList.isEmpty()) {
+ private int calcSoftDeviationCount(List<Integer> stationIdList, StationPathRuleConfig.SoftPreference soft) {
+ List<Integer> preferredPath = getSoftReferencePath(soft);
+ if (preferredPath.isEmpty() || stationIdList == null || stationIdList.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++;
- }
+ int missingCount = countMissingOrderedStations(stationIdList, preferredPath);
+ if (missingCount > 0) {
+ return missingCount;
}
- return count;
+ if (isFullSoftPreferredPath(stationIdList, preferredPath)) {
+ return countOffPathStations(stationIdList, preferredPath);
+ }
+ return 0;
}
private List<Integer> extractStationIdList(List<NavigateNode> path) {
@@ -571,6 +784,96 @@
}
}
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() {
@@ -623,6 +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) {
@@ -656,7 +1184,11 @@
private int pathLen;
private int turnCount;
private int liftTransferCount;
- private int busyStationCount;
+ private int passOtherOutStationCount;
+ private double congestionScore;
+ private double queueDepthScore;
+ private double estimatedWaitSeconds;
+ private double deadlockRiskScore;
private int runBlockCount;
private int softDeviationCount;
private double loopPenalty;
@@ -664,162 +1196,52 @@
private double dynamicCost;
}
- public synchronized List<NavigateNode> findStationBestPath(List<List<NavigateNode>> allList) {
- if (allList == null || allList.isEmpty()) {
- return new ArrayList<>();
+ 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;
+ 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;
}
- 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);
- }
- }
- }
- } catch (Exception ignore) {}
-
- Set<Integer> outStationIdSet = loadAllOutStationIdSet();
-
- double lenWeightPercent = 50.0;
- double congWeightPercent = 50.0;
- double passOtherOutStationWeightPercent = 100.0;
- boolean forceSkipPassOtherOutStation = false;
- try {
- ConfigService configService = SpringUtils.getBean(ConfigService.class);
- if (configService != null) {
- lenWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_LEN_WEIGHT_PERCENT, lenWeightPercent);
- congWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_CONG_WEIGHT_PERCENT, congWeightPercent);
- passOtherOutStationWeightPercent = loadDoubleConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_WEIGHT_PERCENT, passOtherOutStationWeightPercent);
- forceSkipPassOtherOutStation = loadBooleanConfig(configService, CFG_STATION_PATH_PASS_OTHER_OUT_STATION_FORCE_SKIP, false);
- }
- } catch (Exception ignore) {}
-
- List<List<NavigateNode>> candidates = new ArrayList<>();
- List<Integer> lens = new ArrayList<>();
- List<Integer> tasksList = new ArrayList<>();
- List<Double> congs = new ArrayList<>();
- List<Integer> passOtherOutStationCounts = new ArrayList<>();
- int skippedByPassOtherOutStation = 0;
-
- 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++;
- }
- }
- double cong = len <= 0 ? 0.0 : (double) tasks / (double) len;
- int passOtherOutStationCount = countPassOtherOutStations(path, outStationIdSet);
- if (forceSkipPassOtherOutStation && passOtherOutStationCount > 0) {
- skippedByPassOtherOutStation++;
- News.info("[WCS Debug] 绔欑偣璺緞鍊欓�夊凡璺宠繃锛屽洜缁忚繃鍏朵粬鍑哄簱绔欑偣,startStationId={},endStationId={},passOtherOutStationCount={}",
- extractStationId(path.get(0)),
- extractStationId(path.get(path.size() - 1)),
- passOtherOutStationCount);
- continue;
- }
- candidates.add(path);
- lens.add(len);
- tasksList.add(tasks);
- congs.add(cong);
- passOtherOutStationCounts.add(passOtherOutStationCount);
- }
-
- if (candidates.isEmpty()) {
- if (forceSkipPassOtherOutStation && skippedByPassOtherOutStation > 0) {
- News.info("[WCS Debug] 鎵�鏈夌珯鐐硅矾寰勫�欓�夊潎鍥犵粡杩囧叾浠栧嚭搴撶珯鐐硅寮哄埗璺宠繃");
- return new ArrayList<>();
- }
- return allList.get(0);
- }
-
- int minLen = Integer.MAX_VALUE;
- int maxLen = Integer.MIN_VALUE;
- double minCong = Double.MAX_VALUE;
- double maxCong = -Double.MAX_VALUE;
- int minPassOtherOutStationCount = Integer.MAX_VALUE;
- int maxPassOtherOutStationCount = Integer.MIN_VALUE;
- for (int i = 0; i < candidates.size(); i++) {
- int l = lens.get(i);
- double c = congs.get(i);
- int p = passOtherOutStationCounts.get(i);
- if (l < minLen) minLen = l;
- if (l > maxLen) maxLen = l;
- if (c < minCong) minCong = c;
- if (c > maxCong) maxCong = c;
- if (p < minPassOtherOutStationCount) minPassOtherOutStationCount = p;
- if (p > maxPassOtherOutStationCount) maxPassOtherOutStationCount = p;
- }
-
- double weightSum = lenWeightPercent + congWeightPercent + passOtherOutStationWeightPercent;
- double lenW = weightSum <= 0 ? 0.5 : lenWeightPercent / weightSum;
- double congW = weightSum <= 0 ? 0.5 : congWeightPercent / weightSum;
- double passOtherOutStationW = weightSum <= 0 ? 0.0 : passOtherOutStationWeightPercent / weightSum;
-
- List<NavigateNode> best = null;
- double bestCost = Double.MAX_VALUE;
- int bestPassOtherOutStationCount = Integer.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);
- int p = passOtherOutStationCounts.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);
- double passOtherOutStationNorm = (maxPassOtherOutStationCount - minPassOtherOutStationCount) <= 0
- ? 0.0
- : (p - minPassOtherOutStationCount) / (double) (maxPassOtherOutStationCount - minPassOtherOutStationCount);
- //鑾峰彇鏉冮噸
- double cost = lenNorm * lenW + congNorm * congW + passOtherOutStationNorm * passOtherOutStationW;
- if (cost < bestCost
- || (cost == bestCost && p < bestPassOtherOutStationCount)
- || (cost == bestCost && p == bestPassOtherOutStationCount && t < bestTasks)
- || (cost == bestCost && p == bestPassOtherOutStationCount && t == bestTasks && l < bestLen)) {
- best = candidates.get(i);
- bestCost = cost;
- bestPassOtherOutStationCount = p;
- bestTasks = t;
- bestLen = l;
- }
- }
-
- if (best == null) {
- return allList.get(0);
- }
- return best;
+ 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() {
@@ -879,43 +1301,6 @@
return value.getInteger("stationId");
} catch (Exception ignore) {}
return null;
- }
-
- private double loadDoubleConfig(ConfigService configService, String code, double defaultValue) {
- if (configService == null || code == null) {
- return defaultValue;
- }
- Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
- if (config == null || config.getValue() == null) {
- return defaultValue;
- }
- String value = config.getValue().trim();
- if (value.endsWith("%")) {
- value = value.substring(0, value.length() - 1);
- }
- try {
- return Double.parseDouble(value);
- } catch (Exception ignore) {}
- return defaultValue;
- }
-
- private boolean loadBooleanConfig(ConfigService configService, String code, boolean defaultValue) {
- if (configService == null || code == null) {
- return defaultValue;
- }
- Config config = configService.getOne(new QueryWrapper<Config>().eq("code", code));
- if (config == null || config.getValue() == null) {
- return defaultValue;
- }
- String value = config.getValue().trim();
- if (value.isEmpty()) {
- return defaultValue;
- }
- return "1".equals(value)
- || "true".equalsIgnoreCase(value)
- || "yes".equalsIgnoreCase(value)
- || "y".equalsIgnoreCase(value)
- || "on".equalsIgnoreCase(value);
}
//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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