package com.algo.service;

import com.algo.model.*;
import com.algo.util.JsonUtils;
import org.springframework.stereotype.Service;

import java.util.*;
import java.util.concurrent.*;

/**
 * 路径规划服务
 */
public class PathPlanningService {

    /**
     * 路径映射表
     */
    private Map<String, Map<String, Integer>> pathMapping;

    /**
     * 环境配置
     */
    private Map<String, Object> environmentConfig;

    /**
     * 执行中任务提取
     */
    private ExecutingTaskExtractor taskExtractor;

    /**
     * 路径规划
     */
    private PathPlanner pathPlanner;

    /**
     * 碰撞检测
     */
    private CollisionDetector collisionDetector;

    /**
     * 碰撞解决
     */
    private CollisionResolver collisionResolver;

    /**
     * 剩余路径处理
     */
    private RemainingPathProcessor remainingPathProcessor;

    /**
     * 线程池大小
     */
    private final int threadPoolSize;

    /**
     * 线程池
     */
    private final ExecutorService executorService;

    /**
     * CTU批处理大小
     */
    private final int batchSize = 10;

    /**
     * 构造函数
     *
     * @param pathMapping       路径映射表
     * @param environmentConfig 环境配置
     * @param taskDataList      任务数据列表
     */
    public PathPlanningService(Map<String, Map<String, Integer>> pathMapping,
                               Map<String, Object> environmentConfig,
                               List<TaskData> taskDataList) {
        this.pathMapping = pathMapping;
        this.environmentConfig = environmentConfig;

        this.threadPoolSize = Math.max(4, Runtime.getRuntime().availableProcessors());
        this.executorService = Executors.newFixedThreadPool(threadPoolSize);

        // 初始化
        initializeComponents(taskDataList);

        System.out.println("路径规划服务初始化完成（线程池大小: " + threadPoolSize + "）");
    }

    /**
     * 初始化各个组件
     *
     * @param taskDataList 任务数据列表
     */
    private void initializeComponents(List<TaskData> taskDataList) {
        // 初始化任务提取器
        this.taskExtractor = new ExecutingTaskExtractor(pathMapping, taskDataList);

        // 初始化路径规划器
        this.pathPlanner = new AStarPathPlanner(pathMapping);

        // 初始化碰撞检测器
        this.collisionDetector = new CollisionDetector(pathMapping);

        // 初始化碰撞解决器
        this.collisionResolver = new CollisionResolver(collisionDetector);

        // 初始化剩余路径处理器
        this.remainingPathProcessor = new RemainingPathProcessor(pathMapping);
    }

    /**
     * 为所有CTU规划路径
     *
     * @param agvStatusList  CTU状态列表
     * @param includeIdleAgv 是否包含空闲CTU
     * @param constraints    路径约束条件
     * @return 路径规划结果
     */
    public PathPlanningResult planAllAgvPaths(List<AGVStatus> agvStatusList,
                                              boolean includeIdleAgv,
                                              List<double[]> constraints) {
        long startTime = System.currentTimeMillis();

        System.out.println("开始为 " + agvStatusList.size() + " 个CTU规划");

        // 1. 构建现有剩余路径的时空占用表
        System.out.println("步骤1: 构建时空占用表");
        Map<String, String> spaceTimeOccupancyMap = remainingPathProcessor.buildSpaceTimeOccupancyMap(agvStatusList);
        System.out.println("时空占用表构建完成，包含 " + spaceTimeOccupancyMap.size() + " 个占用点");

        // 2. 分类处理CTU：有剩余路径的和需要新路径的
        List<AGVStatus> ctuWithRemainingPaths = new ArrayList<>();
        List<AGVStatus> ctuNeedingNewPaths = new ArrayList<>();

        for (AGVStatus agv : agvStatusList) {
            if (agv.hasRemainingPath()) {
                ctuWithRemainingPaths.add(agv);
            } else if (agv.canAcceptNewTask() || (includeIdleAgv && isAgvIdle(agv))) {
                ctuNeedingNewPaths.add(agv);
            }
        }

        System.out.println("CTU分类完成: 有剩余路径=" + ctuWithRemainingPaths.size() +
                ", 需要新路径=" + ctuNeedingNewPaths.size());

        // 3. 处理有剩余路径的CTU
        List<PlannedPath> plannedPaths = new ArrayList<>();
        List<ExecutingTask> executingTasks = new ArrayList<>();
        Map<String, String> plannedAgvIds = new HashMap<>();

        System.out.println("步骤2: 处理有剩余路径的CTU");
        for (AGVStatus agv : ctuWithRemainingPaths) {
            PlannedPath remainingPath = processRemainingPath(agv);
            if (remainingPath != null) {
                plannedPaths.add(remainingPath);
                plannedAgvIds.put(agv.getAgvId(), "REMAINING_PATH");

                // 创建对应的执行任务
                ExecutingTask task = createExecutingTaskFromRemainingPath(agv);
                if (task != null) {
                    executingTasks.add(task);
                }

                System.out.println("CTU " + agv.getAgvId() + " 剩余路径处理完成，路径长度: " +
                        remainingPath.getCodeList().size());
            }
        }

        // 4. 为需要新路径的CTU提取执行中任务
        System.out.println("步骤3: 提取需要新路径的CTU任务");
        List<ExecutingTask> newTasks = taskExtractor.extractExecutingTasks(ctuNeedingNewPaths);
        System.out.println("提取到 " + newTasks.size() + " 个新任务");

        // 5. 为新任务规划路径（考虑时空约束）
        System.out.println("步骤4: 为新任务规划路径");
        for (ExecutingTask task : newTasks) {
            String agvId = task.getAgvId();
            String currentPos = task.getCurrentPosition();
            String targetPos = task.getTargetPosition();

            // 避免重复规划
            if (plannedAgvIds.containsKey(agvId)) {
                System.out.println("跳过CTU " + agvId + "：已规划路径");
                continue;
            }

            // 验证位置信息
            if (currentPos == null || targetPos == null) {
                System.out.println("CTU " + agvId + " 位置信息无效，跳过");
                continue;
            }

            // 获取CTU状态信息
            AGVStatus agvStatus = findAgvStatus(agvId, ctuNeedingNewPaths);
            if (agvStatus == null) {
                System.out.println("CTU " + agvId + " 状态信息未找到，跳过");
                continue;
            }

            // 规划时空安全的路径
            PlannedPath plannedPath = planPathWithSpaceTimeConstraints(
                    currentPos, targetPos, constraints, spaceTimeOccupancyMap, agvStatus
            );

            if (plannedPath != null) {
                // 设置CTU信息
                plannedPath.setAgvId(agvId);
                plannedPath.setSegId(generateSegId(task.getTaskId(), agvId, task.getTaskType()));

                // 增强路径代码信息
                enhancePathCodes(plannedPath, task);

                plannedPaths.add(plannedPath);
                plannedAgvIds.put(agvId, targetPos);
                executingTasks.add(task);

                // 更新时空占用表
                updateSpaceTimeOccupancyMap(plannedPath, spaceTimeOccupancyMap, agvStatus);

                System.out.println("CTU " + agvId + " 路径规划成功：" + currentPos + " -> " + targetPos +
                        "，路径长度: " + plannedPath.getCodeList().size());
            } else {
                System.out.println("CTU " + agvId + " 路径规划失败：" + currentPos + " -> " + targetPos);
            }
        }

        // 6. 处理空闲CTU
        if (includeIdleAgv) {
            System.out.println("步骤5: 处理空闲CTU");
            List<PlannedPath> idlePaths = planIdleAgvPathsWithConstraints(
                    ctuNeedingNewPaths, plannedAgvIds, constraints, spaceTimeOccupancyMap
            );
            plannedPaths.addAll(idlePaths);
            System.out.println("空闲CTU路径规划完成，数量: " + idlePaths.size());
        }

        // 7. 最终碰撞检测和解决（针对同时生成的新路径）
        System.out.println("步骤6: 最终碰撞检测");
        List<Conflict> conflicts = collisionDetector.detectConflicts(plannedPaths);

        if (!conflicts.isEmpty()) {
            System.out.println("发现 " + conflicts.size() + " 个碰撞，开始解决");
            plannedPaths = collisionResolver.resolveConflicts(plannedPaths, conflicts, executingTasks);

            // 重新检测冲突
            List<Conflict> remainingConflicts = collisionDetector.detectConflicts(plannedPaths);
            conflicts = remainingConflicts;
        }

        long endTime = System.currentTimeMillis();
        double totalTime = (endTime - startTime) / 1000.0;

        // 构建结果
        PathPlanningResult result = new PathPlanningResult(
                agvStatusList.size(),
                executingTasks.size(),
                plannedPaths.size(),
                totalTime,
                conflicts.size(),
                conflicts.isEmpty(),
                "A*_WITH_SPACETIME_CONSTRAINTS",
                plannedPaths,
                executingTasks
        );

        System.out.println("路径规划完成 - 总CTU: " + result.getTotalAgvs() +
                ", 执行任务: " + result.getExecutingTasksCount() +
                ", 规划路径: " + result.getPlannedPathsCount() +
                ", 耗时: " + result.getTotalPlanningTime() + "s" +
                ", 无冲突: " + result.isCollisionFree());

        return result;
    }

    /**
     * 处理CTU的剩余路径
     *
     * @param agv CTU状态
     * @return 处理后的路径
     */
    private PlannedPath processRemainingPath(AGVStatus agv) {
        if (!agv.hasRemainingPath()) {
            return null;
        }

        PlannedPath remainingPath = agv.getRemainingPath();
        List<PathCode> remainingCodes = new ArrayList<>();

        // 从当前位置开始，获取剩余路径
        List<PathCode> originalCodes = remainingPath.getCodeList();
        for (int i = agv.getCurrentPathIndex(); i < originalCodes.size(); i++) {
            remainingCodes.add(originalCodes.get(i));
        }

        // 创建新的路径对象
        PlannedPath processedPath = new PlannedPath();
        processedPath.setAgvId(agv.getAgvId());
        processedPath.setCodeList(remainingCodes);
        processedPath.setSegId(agv.getAgvId() + "_REMAINING_" + System.currentTimeMillis());

        return processedPath;
    }

    /**
     * 从剩余路径创建执行任务
     *
     * @param agv CTU状态
     * @return 执行任务
     */
    private ExecutingTask createExecutingTaskFromRemainingPath(AGVStatus agv) {
        if (!agv.hasRemainingPath()) {
            return null;
        }

        PlannedPath remainingPath = agv.getRemainingPath();
        List<PathCode> codeList = remainingPath.getCodeList();

        if (codeList.isEmpty() || agv.getCurrentPathIndex() >= codeList.size()) {
            return null;
        }

        // 获取当前位置和目标位置
        PathCode currentCode = codeList.get(agv.getCurrentPathIndex());
        PathCode targetCode = codeList.get(codeList.size() - 1);

        ExecutingTask task = new ExecutingTask();
        task.setAgvId(agv.getAgvId());
        task.setTaskId(remainingPath.getSegId());
        task.setCurrentPosition(currentCode.getCode());
        task.setTargetPosition(targetCode.getCode());
        task.setTaskType("remaining");
        task.setLoaded(false); // 假设值
        task.setBackpackIndex(0);
        task.setPriority(1);

        return task;
    }

    /**
     * 规划带时空约束的路径
     *
     * @param startPos     起始位置
     * @param endPos       目标位置
     * @param constraints  约束条件
     * @param occupancyMap 时空占用表
     * @param agvStatus    CTU状态
     * @return 规划的路径
     */
    private PlannedPath planPathWithSpaceTimeConstraints(String startPos, String endPos,
                                                         List<double[]> constraints,
                                                         Map<String, String> occupancyMap,
                                                         AGVStatus agvStatus) {
        // 首先尝试基本路径规划
        PlannedPath basicPath = pathPlanner.planPath(startPos, endPos, constraints);
        if (basicPath == null) {
            return null;
        }

        // 找到安全的起始时间
        long safeStartTime = remainingPathProcessor.findSafeStartTime(
                basicPath, occupancyMap, agvStatus.getPhysicalConfig()
        );

        // 设置路径的时间信息
        enhancePathWithTimeInfo(basicPath, safeStartTime, agvStatus.getPhysicalConfig());

        return basicPath;
    }

    /**
     * 路径的时间信息
     *
     * @param path      路径
     * @param startTime 起始时间
     * @param config    物理配置
     */
    private void enhancePathWithTimeInfo(PlannedPath path, long startTime, CTUPhysicalConfig config) {
        List<PathCode> codeList = path.getCodeList();
        if (codeList == null || codeList.isEmpty()) {
            return;
        }

        long currentTime = startTime;

        for (int i = 0; i < codeList.size(); i++) {
            PathCode pathCode = codeList.get(i);

            // 设置预计到达时间

            // 计算到下一个点的时间
            if (i < codeList.size() - 1) {
                double travelTime = config.getStandardPointDistance() / config.getNormalSpeed();
                currentTime += (long) (travelTime * 1000);

                // 如果有方向变化，增加转向时间
                PathCode nextCode = codeList.get(i + 1);
                if (!pathCode.getDirection().equals(nextCode.getDirection())) {
                    double turnTime = config.getTurnTime(pathCode.getDirection(), nextCode.getDirection());
                    currentTime += (long) (turnTime * 1000);
                }
            }
        }
    }

    /**
     * 更新时空占用表
     *
     * @param path         新路径
     * @param occupancyMap 占用表
     * @param agvStatus    CTU状态
     */
    private void updateSpaceTimeOccupancyMap(PlannedPath path, Map<String, String> occupancyMap,
                                             AGVStatus agvStatus) {
        // 将新路径添加到占用表中
        List<PathCode> codeList = path.getCodeList();
        CTUPhysicalConfig config = agvStatus.getPhysicalConfig();

        long currentTime = System.currentTimeMillis() / 1000; // 转换为秒

        for (PathCode pathCode : codeList) {
            int[] coord = JsonUtils.getCoordinate(pathCode.getCode(), pathMapping);
            if (coord != null) {
                String spaceTimeKey = coord[0] + "," + coord[1] + "," + currentTime;
                occupancyMap.put(spaceTimeKey, agvStatus.getAgvId());
                currentTime += 2; // 假设每个点停留2秒
            }
        }
    }

    /**
     * 查找CTU状态
     *
     * @param agvId   CTU编号
     * @param agvList CTU列表
     * @return CTU状态
     */
    private AGVStatus findAgvStatus(String agvId, List<AGVStatus> agvList) {
        for (AGVStatus agv : agvList) {
            if (agv.getAgvId().equals(agvId)) {
                return agv;
            }
        }
        return null;
    }

    /**
     * 规划带约束的空闲CTU路径
     *
     * @param agvStatusList CTU状态列表
     * @param plannedAgvIds 已规划CTU映射
     * @param constraints   约束条件
     * @param occupancyMap  时空占用表
     * @return 空闲CTU路径列表
     */
    private List<PlannedPath> planIdleAgvPathsWithConstraints(List<AGVStatus> agvStatusList,
                                                              Map<String, String> plannedAgvIds,
                                                              List<double[]> constraints,
                                                              Map<String, String> occupancyMap) {
        List<PlannedPath> idlePaths = new ArrayList<>();

        for (AGVStatus agvStatus : agvStatusList) {
            String agvId = agvStatus.getAgvId();

            // 跳过已规划的CTU
            if (plannedAgvIds.containsKey(agvId)) {
                continue;
            }

            // 检查CTU是否空闲
            if (isAgvIdle(agvStatus)) {
                String currentPos = agvStatus.getPosition();
                String targetPos = getIdleAgvTarget(agvId, currentPos);

                if (targetPos != null && !targetPos.equals(currentPos)) {
                    PlannedPath idlePath = planPathWithSpaceTimeConstraints(
                            currentPos, targetPos, constraints, occupancyMap, agvStatus
                    );

                    if (idlePath != null) {
                        idlePath.setAgvId(agvId);
                        idlePath.setSegId(generateSegId("IDLE", agvId, "idle"));

                        // 设置空闲路径的代码信息
                        enhanceIdlePathCodes(idlePath, agvStatus);

                        idlePaths.add(idlePath);
                        plannedAgvIds.put(agvId, targetPos);

                        // 更新占用表
                        updateSpaceTimeOccupancyMap(idlePath, occupancyMap, agvStatus);

                        System.out.println("空闲CTU " + agvId + " 路径规划成功：" + currentPos + " -> " + targetPos);
                    }
                }
            }
        }

        return idlePaths;
    }

    /**
     * 路径代码信息
     *
     * @param plannedPath 规划路径
     * @param task        执行任务
     */
    private void enhancePathCodes(PlannedPath plannedPath, ExecutingTask task) {
        List<PathCode> codeList = plannedPath.getCodeList();
        if (codeList == null || codeList.isEmpty()) {
            return;
        }

        String actionType = "2"; // 任务类型
        String taskId = task.getTaskId();
        int backpackLevel = task.getBackpackIndex();

        for (int i = 0; i < codeList.size(); i++) {
            PathCode pathCode = codeList.get(i);

            // 设置基本信息
            pathCode.setActionType(actionType);
            pathCode.setTaskId(taskId);
            pathCode.setLev(backpackLevel);

            // 设置目标点信息
            if (i == codeList.size() - 1) { // 最后一个点
                pathCode.setTargetPoint(true);
                if (task.isLoaded()) {
                    pathCode.setPosType("2"); // 放货
                } else {
                    pathCode.setPosType("1"); // 取货
                }
            } else {
                pathCode.setTargetPoint(false);
                pathCode.setPosType(null);
            }
        }
    }

    /**
     * 空闲路径代码信息
     *
     * @param plannedPath 规划路径
     * @param agvStatus   CTU状态
     */
    private void enhanceIdlePathCodes(PlannedPath plannedPath, AGVStatus agvStatus) {
        List<PathCode> codeList = plannedPath.getCodeList();
        if (codeList == null || codeList.isEmpty()) {
            return;
        }

        String actionType = agvStatus.needsCharging() ? "3" : "4"; // 充电或待机

        for (PathCode pathCode : codeList) {
            pathCode.setActionType(actionType);
            pathCode.setTaskId(null);
            pathCode.setPosType(null);
            pathCode.setLev(0);
            pathCode.setTargetPoint(false);
        }
    }

    /**
     * 判断CTU是否空闲
     *
     * @param agvStatus CTU状态
     * @return true如果CTU空闲
     */
    private boolean isAgvIdle(AGVStatus agvStatus) {
        if (!agvStatus.isAvailable()) {
            return false;
        }

        // 检查背篓是否有执行中的任务
        List<BackpackData> backpack = agvStatus.getBackpack();
        if (backpack != null) {
            for (BackpackData bp : backpack) {
                if (bp.getTaskId() != null && !bp.getTaskId().trim().isEmpty()) {
                    return false;
                }
            }
        }

        return true;
    }

    /**
     * 获取空闲CTU的目标位置
     *
     * @param agvId           CTU编号
     * @param currentPosition 当前位置
     * @return 目标位置
     */
    private String getIdleAgvTarget(String agvId, String currentPosition) {
        // 根据CTU ID的哈希值选择位置
        int hashValue = Math.abs(agvId.hashCode() % 1000);

        // 优先选择充电位置
        List<String> chargingPositions = taskExtractor.getChargingPositions();
        if (!chargingPositions.isEmpty()) {
            for (String pos : chargingPositions) {
                if (!pos.equals(currentPosition)) {
                    return pos;
                }
            }
        }

        // 其次选择待机位置
        List<String> standbyPositions = taskExtractor.getStandbyPositions();
        if (!standbyPositions.isEmpty()) {
            return standbyPositions.get(hashValue % standbyPositions.size());
        }

        return null;
    }

    /**
     * 生成段落ID
     *
     * @param taskId   任务ID
     * @param agvId    CTU编号
     * @param taskType 任务类型
     * @return 段落ID
     */
    private String generateSegId(String taskId, String agvId, String taskType) {
        return taskId + "_" + agvId + "_" + taskType;
    }

    /**
     * 路径规划结果类
     */
    public static class PathPlanningResult {
        private int totalAgvs;
        private int executingTasksCount;
        private int plannedPathsCount;
        private double totalPlanningTime;
        private int conflictsDetected;
        private boolean collisionFree;
        private String algorithm;
        private List<PlannedPath> plannedPaths;
        private List<ExecutingTask> executingTasks;

        public PathPlanningResult(int totalAgvs, int executingTasksCount, int plannedPathsCount,
                                  double totalPlanningTime, int conflictsDetected, boolean collisionFree,
                                  String algorithm, List<PlannedPath> plannedPaths, List<ExecutingTask> executingTasks) {
            this.totalAgvs = totalAgvs;
            this.executingTasksCount = executingTasksCount;
            this.plannedPathsCount = plannedPathsCount;
            this.totalPlanningTime = totalPlanningTime;
            this.conflictsDetected = conflictsDetected;
            this.collisionFree = collisionFree;
            this.algorithm = algorithm;
            this.plannedPaths = plannedPaths;
            this.executingTasks = executingTasks;
        }

        // Getter方法
        public int getTotalAgvs() {
            return totalAgvs;
        }

        public int getExecutingTasksCount() {
            return executingTasksCount;
        }

        public int getPlannedPathsCount() {
            return plannedPathsCount;
        }

        public double getTotalPlanningTime() {
            return totalPlanningTime;
        }

        public int getConflictsDetected() {
            return conflictsDetected;
        }

        public boolean isCollisionFree() {
            return collisionFree;
        }

        public String getAlgorithm() {
            return algorithm;
        }

        public List<PlannedPath> getPlannedPaths() {
            return plannedPaths;
        }

        public List<ExecutingTask> getExecutingTasks() {
            return executingTasks;
        }

        @Override
        public String toString() {
            return "PathPlanningResult{" +
                    "totalAgvs=" + totalAgvs +
                    ", executingTasksCount=" + executingTasksCount +
                    ", plannedPathsCount=" + plannedPathsCount +
                    ", executingTasksCount=" + executingTasksCount +
                    ", totalPlanningTime=" + totalPlanningTime +
                    ", conflictsDetected=" + conflictsDetected +
                    ", collisionFree=" + executingTasksCount +
                    ", algorithm=" + algorithm +
                    ", plannedPaths=" + plannedPaths +
                    ", executingTasks='" + executingTasks + '\'' +
                    '}';
        }
    }

    /**
     * 并行规划任务路径
     */
    private List<PlannedPath> planTasksInParallel(List<ExecutingTask> tasks,
                                                  List<double[]> constraints,
                                                  Map<String, String> spaceTimeOccupancyMap,
                                                  List<AGVStatus> agvStatusList) {

        List<PlannedPath> allPaths = Collections.synchronizedList(new ArrayList<>());

        // 按优先级排序任务
        List<ExecutingTask> sortedTasks = new ArrayList<>(tasks);
        sortedTasks.sort((t1, t2) -> Integer.compare(t2.getPriority(), t1.getPriority()));

        // 分批处理
        List<List<ExecutingTask>> batches = createBatches(sortedTasks, batchSize);

        for (int batchIndex = 0; batchIndex < batches.size(); batchIndex++) {
            List<ExecutingTask> batch = batches.get(batchIndex);

            System.out.println("处理批次 " + (batchIndex + 1) + "/" + batches.size() +
                    ", 任务数: " + batch.size());

            List<Future<PlannedPath>> futures = new ArrayList<>();

            for (ExecutingTask task : batch) {
                Future<PlannedPath> future = executorService.submit(() -> {
                    return planSingleTaskPath(task, constraints, spaceTimeOccupancyMap, agvStatusList);
                });
                futures.add(future);
            }

            for (Future<PlannedPath> future : futures) {
                try {
                    PlannedPath path = future.get(60, TimeUnit.SECONDS);
                    if (path != null) {
                        allPaths.add(path);
                        System.out.println("CTU " + path.getAgvId() + " 路径规划成功");
                    }
                } catch (TimeoutException e) {
                    System.out.println("路径规划超时，跳过");
                    future.cancel(true);
                } catch (Exception e) {
                    System.out.println("路径规划异常: " + e.getMessage());
                }
            }
        }

        return allPaths;
    }

    /**
     * 为单个任务规划路径
     */
    private PlannedPath planSingleTaskPath(ExecutingTask task,
                                           List<double[]> constraints,
                                           Map<String, String> spaceTimeOccupancyMap,
                                           List<AGVStatus> agvStatusList) {

        String agvId = task.getAgvId();
        String currentPos = task.getCurrentPosition();
        String targetPos = task.getTargetPosition();

        if (currentPos == null || targetPos == null) {
            return null;
        }

        // 获取CTU状态信息
        AGVStatus agvStatus = findAgvStatus(agvId, agvStatusList);
        if (agvStatus == null) {
            return null;
        }

        // 规划时空安全的路径
        PlannedPath plannedPath = planPathWithSpaceTimeConstraints(
                currentPos, targetPos, constraints, spaceTimeOccupancyMap, agvStatus
        );

        if (plannedPath != null) {
            // 设置CTU信息
            plannedPath.setAgvId(agvId);
            plannedPath.setSegId(generateSegId(task.getTaskId(), agvId, task.getTaskType()));

            enhancePathCodes(plannedPath, task);
        }

        return plannedPath;
    }

    /**
     * 创建批次
     */
    private List<List<ExecutingTask>> createBatches(List<ExecutingTask> tasks, int batchSize) {
        List<List<ExecutingTask>> batches = new ArrayList<>();

        for (int i = 0; i < tasks.size(); i += batchSize) {
            int end = Math.min(i + batchSize, tasks.size());
            batches.add(new ArrayList<>(tasks.subList(i, end)));
        }

        return batches;
    }

    /**
     * 关闭服务
     */
    public void shutdown() {
        if (executorService != null && !executorService.isShutdown()) {
            executorService.shutdown();
            try {
                if (!executorService.awaitTermination(10, TimeUnit.SECONDS)) {
                    executorService.shutdownNow();
                }
            } catch (InterruptedException e) {
                executorService.shutdownNow();
                Thread.currentThread().interrupt();
            }
        }
    }
}