package com.zy.core.utils.station;

import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasStation;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.NavigateUtils;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.StationCommandType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.move.StationMoveCoordinator;
import com.zy.core.move.StationMoveDispatchMode;
import com.zy.core.move.StationMoveSession;
import com.zy.core.service.StationTaskLoopService;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.station.model.CircleTargetCandidate;
import com.zy.core.utils.station.model.OutOrderDispatchDecision;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Objects;

@Slf4j
@Component
public class StationOutboundDecisionSupport {

    private static final long PATH_CALC_SLOW_THRESHOLD_MS = 50L;
    private static final long OUT_ORDER_DECISION_SLOW_THRESHOLD_MS = 100L;
    private static final long CURRENT_OUT_ORDER_DECISION_SLOW_THRESHOLD_MS = 100L;
    private static final long CIRCLE_TARGET_EVAL_SLOW_THRESHOLD_MS = 100L;

    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private BasStationService basStationService;
    @Autowired
    private NavigateUtils navigateUtils;
    @Autowired
    private StationTaskLoopService stationTaskLoopService;
    @Autowired
    private StationMoveCoordinator stationMoveCoordinator;
    @Autowired
    private StationDispatchRuntimeStateSupport stationDispatchRuntimeStateSupport;

    public StationCommand buildOutboundMoveCommand(StationThread stationThread,
                                                   WrkMast wrkMast,
                                                   Integer stationId,
                                                   Integer targetStationId,
                                                   Double pathLenFactor) {
        if (stationThread == null || wrkMast == null) {
            return null;
        }
        return stationThread.getCommand(
                StationCommandType.MOVE,
                wrkMast.getWrkNo(),
                stationId,
                targetStationId,
                0,
                normalizePathLenFactor(pathLenFactor)
        );
    }

    public Double resolveOutboundPathLenFactor(WrkMast wrkMast) {
        if (!isBatchOutboundTaskWithSeq(wrkMast)) {
            return 0.0d;
        }
        List<WrkMast> activeBatchTaskList = loadActiveBatchTaskList(wrkMast.getBatch());
        if (activeBatchTaskList.size() <= 1) {
            return 0.0d;
        }

        int activeTaskCount = 0;
        int predecessorCount = 0;
        for (WrkMast item : activeBatchTaskList) {
            if (!isFactorCandidateTask(item)) {
                continue;
            }
            activeTaskCount++;
            if (item.getBatchSeq() < wrkMast.getBatchSeq()) {
                predecessorCount++;
            }
        }
        if (activeTaskCount <= 1 || predecessorCount <= 0) {
            return 0.0d;
        }
        return normalizePathLenFactor((double) predecessorCount / (double) (activeTaskCount - 1));
    }

    public List<Integer> getAllOutOrderList() {
        List<Integer> list = new ArrayList<>();
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            List<Integer> orderList = basDevp.getOutOrderIntList();
            list.addAll(orderList);
        }
        return list;
    }

    public OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
                                                                    WrkMast wrkMast,
                                                                    List<Integer> outOrderStationIds,
                                                                    Double pathLenFactor) {
        long startMs = System.currentTimeMillis();
        if (wrkMast == null || wrkMast.getStaNo() == null) {
            return null;
        }
        DecisionPathCache decisionPathCache = new DecisionPathCache();
        if (!shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
            return OutOrderDispatchDecision.direct(wrkMast.getStaNo());
        }
        long resolveDispatchTargetStartMs = System.currentTimeMillis();
        Integer dispatchStationId = resolveDispatchOutOrderTarget(
                wrkMast,
                wrkMast.getSourceStaNo(),
                wrkMast.getStaNo(),
                outOrderStationIds,
                pathLenFactor,
                decisionPathCache
        );
        long resolveDispatchTargetCostMs = System.currentTimeMillis() - resolveDispatchTargetStartMs;
        if (dispatchStationId == null) {
            return null;
        }
        long currentDispatchCheckStartMs = System.currentTimeMillis();
        boolean currentOutOrderDispatchStation = isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor, decisionPathCache);
        long currentDispatchCheckCostMs = System.currentTimeMillis() - currentDispatchCheckStartMs;
        OutOrderDispatchDecision decision;
        if (currentOutOrderDispatchStation) {
            decision = resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds, pathLenFactor, decisionPathCache);
        } else if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
                && isCurrentOutOrderStation(currentStationId, outOrderStationIds)
                && isWatchingCircleArrival(wrkMast.getWrkNo(), currentStationId)) {
            decision = OutOrderDispatchDecision.circle(dispatchStationId, null, false);
        } else {
            decision = OutOrderDispatchDecision.direct(dispatchStationId);
        }
        long totalCostMs = System.currentTimeMillis() - startMs;
        log.info("resolveOutboundDispatchDecision profile, taskNo={}, currentStationId={}, finalTargetStationId={}, dispatchStationId={}, currentOutOrderDispatchStation={}, decision={}, circle={}, resolveDispatchTargetCostMs={}ms, currentDispatchCheckCostMs={}ms, totalCostMs={}ms",
                wrkMast.getWrkNo(), currentStationId, wrkMast.getStaNo(), dispatchStationId, currentOutOrderDispatchStation,
                decision == null ? null : decision.getTargetStationId(), decision != null && decision.isCircle(),
                resolveDispatchTargetCostMs, currentDispatchCheckCostMs, totalCostMs);
        if (totalCostMs > OUT_ORDER_DECISION_SLOW_THRESHOLD_MS) {
            log.warn("resolveOutboundDispatchDecision slow, taskNo={}, currentStationId={}, totalCostMs={}ms, resolveDispatchTargetCostMs={}ms, currentDispatchCheckCostMs={}ms",
                    wrkMast.getWrkNo(), currentStationId, totalCostMs, resolveDispatchTargetCostMs, currentDispatchCheckCostMs);
        }
        return decision;
    }

    public void syncOutOrderWatchState(WrkMast wrkMast,
                                       Integer currentStationId,
                                       List<Integer> outOrderStationIds,
                                       OutOrderDispatchDecision dispatchDecision,
                                       StationCommand command) {
        if (dispatchDecision == null || command == null || !shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
            return;
        }
        if (dispatchDecision.isCircle()) {
            stationDispatchRuntimeStateSupport.saveWatchCircleCommand(wrkMast.getWrkNo(), command);
            if (dispatchDecision.shouldCountLoopIssue()
                    && stationTaskLoopService != null
                    && dispatchDecision.getLoopEvaluation() != null) {
                stationTaskLoopService.recordLoopIssue(dispatchDecision.getLoopEvaluation(), "OUT_ORDER_CIRCLE");
            }
        } else {
            stationDispatchRuntimeStateSupport.clearWatchCircleCommand(wrkMast.getWrkNo());
        }
    }

    public boolean shouldSkipOutOrderDispatchForExistingRoute(Integer wrkNo, Integer stationId) {
        if (stationMoveCoordinator == null || wrkNo == null || wrkNo <= 0 || stationId == null) {
            return false;
        }
        StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
        if (session == null) {
            return false;
        }
        if (!session.isActive() || !session.containsStation(stationId)) {
            return false;
        }
        if (StationMoveDispatchMode.CIRCLE == session.getDispatchMode()) {
            return true;
        }
        return !Objects.equals(stationId, session.getCurrentRouteTargetStationId());
    }

    public boolean isWatchingCircleArrival(Integer wrkNo, Integer stationId) {
        if (stationMoveCoordinator != null) {
            StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
            if (session != null && session.isActive() && stationId != null) {
                if (stationId.equals(session.getNextDecisionStationId())) {
                    return true;
                }
                if (session.containsStation(stationId)) {
                    return false;
                }
            }
        }
        StationCommand command = stationDispatchRuntimeStateSupport.loadWatchCircleCommand(wrkNo);
        return command != null && stationId != null && stationId.equals(command.getTargetStaNo());
    }

    private List<NavigateNode> calcOutboundNavigatePath(WrkMast wrkMast,
                                                        Integer sourceStationId,
                                                        Integer targetStationId,
                                                        Double pathLenFactor) {
        return calcOutboundNavigatePath(wrkMast, sourceStationId, targetStationId, pathLenFactor, null);
    }

    private List<NavigateNode> calcOutboundNavigatePath(WrkMast wrkMast,
                                                        Integer sourceStationId,
                                                        Integer targetStationId,
                                                        Double pathLenFactor,
                                                        DecisionPathCache decisionPathCache) {
        long startMs = System.currentTimeMillis();
        Double normalizedFactor = normalizePathLenFactor(pathLenFactor);
        Integer currentTaskNo = wrkMast == null ? null : wrkMast.getWrkNo();
        boolean cacheHit = false;
        List<NavigateNode> path;
        if (decisionPathCache == null) {
            path = currentTaskNo == null
                    ? navigateUtils.calcOptimalPathByStationId(sourceStationId, targetStationId, null, normalizedFactor)
                    : navigateUtils.calcOptimalPathByStationId(sourceStationId, targetStationId, currentTaskNo, normalizedFactor);
        } else {
            String cacheKey = buildPathCacheKey(currentTaskNo, sourceStationId, targetStationId, normalizedFactor);
            List<NavigateNode> cachedPath = decisionPathCache.pathMap.get(cacheKey);
            if (cachedPath != null) {
                cacheHit = true;
                path = cachedPath;
            } else {
                path = currentTaskNo == null
                        ? navigateUtils.calcOptimalPathByStationId(sourceStationId, targetStationId, null, normalizedFactor)
                        : navigateUtils.calcOptimalPathByStationId(sourceStationId, targetStationId, currentTaskNo, normalizedFactor);
                if (path == null) {
                    path = Collections.emptyList();
                }
                decisionPathCache.pathMap.put(cacheKey, path);
            }
        }
        if (path == null) {
            path = Collections.emptyList();
        }
        long costMs = System.currentTimeMillis() - startMs;
        if (costMs > PATH_CALC_SLOW_THRESHOLD_MS) {
            log.warn("calcOutboundNavigatePath slow, taskNo={}, sourceStationId={}, targetStationId={}, pathCacheHit={}, pathNodeCount={}, pathCostMs={}ms",
                    currentTaskNo, sourceStationId, targetStationId, cacheHit, path.size(), costMs);
        }
        return path;
    }

    private boolean isBatchOutboundTaskWithSeq(WrkMast wrkMast) {
        return wrkMast != null
                && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
                && !Cools.isEmpty(wrkMast.getBatch())
                && wrkMast.getBatchSeq() != null
                && wrkMast.getWrkNo() != null;
    }

    private List<WrkMast> loadActiveBatchTaskList(String batch) {
        if (Cools.isEmpty(batch)) {
            return Collections.emptyList();
        }
        return wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("io_type", WrkIoType.OUT.id)
                .eq("batch", batch)
                .notIn("wrk_sts",
                        WrkStsType.STATION_RUN_COMPLETE.sts,
                        WrkStsType.COMPLETE_OUTBOUND.sts,
                        WrkStsType.SETTLE_OUTBOUND.sts));
    }

    private boolean isFactorCandidateTask(WrkMast wrkMast) {
        return wrkMast != null
                && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
                && wrkMast.getBatchSeq() != null
                && !"taskCancel".equals(wrkMast.getMk());
    }

    private boolean shouldApplyOutOrder(WrkMast wrkMast, List<Integer> outOrderStationIds) {
        return wrkMast != null
                && wrkMast.getStaNo() != null
                && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
                && !Cools.isEmpty(wrkMast.getBatch())
                && wrkMast.getBatchSeq() != null
                && outOrderStationIds != null
                && !outOrderStationIds.isEmpty();
    }

    private boolean isCurrentOutOrderDispatchStation(Integer currentStationId,
                                                     WrkMast wrkMast,
                                                     List<Integer> outOrderStationIds,
                                                     Double pathLenFactor,
                                                     DecisionPathCache decisionPathCache) {
        if (!shouldApplyOutOrder(wrkMast, outOrderStationIds) || currentStationId == null) {
            return false;
        }
        Integer dispatchStationId = resolveDispatchOutOrderTarget(
                wrkMast,
                wrkMast.getSourceStaNo(),
                wrkMast.getStaNo(),
                outOrderStationIds,
                pathLenFactor,
                decisionPathCache
        );
        return dispatchStationId != null
                && !Objects.equals(dispatchStationId, wrkMast.getStaNo())
                && Objects.equals(currentStationId, dispatchStationId);
    }

    private boolean isCurrentOutOrderStation(Integer currentStationId,
                                             List<Integer> outOrderStationIds) {
        return currentStationId != null
                && outOrderStationIds != null
                && outOrderStationIds.contains(currentStationId);
    }

    private OutOrderDispatchDecision resolveCurrentOutOrderDispatchDecision(Integer currentStationId,
                                                                           WrkMast wrkMast,
                                                                           List<Integer> outOrderStationIds,
                                                                           Double pathLenFactor,
                                                                           DecisionPathCache decisionPathCache) {
        long startMs = System.currentTimeMillis();
        if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor, decisionPathCache)) {
            return null;
        }

        long batchQueryStartMs = System.currentTimeMillis();
        List<WrkMast> batchWrkList = wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("io_type", WrkIoType.OUT.id)
                .notIn("wrk_sts",
                        WrkStsType.STATION_RUN_COMPLETE.sts,
                        WrkStsType.COMPLETE_OUTBOUND.sts,
                        WrkStsType.SETTLE_OUTBOUND.sts)
                .eq("batch", wrkMast.getBatch())
                .orderByAsc("batch_seq")
                .orderByAsc("wrk_no"));
        long batchQueryCostMs = System.currentTimeMillis() - batchQueryStartMs;
        if (batchWrkList.isEmpty()) {
            return OutOrderDispatchDecision.direct(wrkMast.getStaNo());
        }

        WrkMast firstWrkMast = batchWrkList.get(0);
        Integer currentBatchSeq = firstWrkMast.getBatchSeq();
        if (currentBatchSeq == null) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 首个未完成任务缺少批次序号，当前任务暂不放行", wrkMast.getBatch());
            return null;
        }

        List<NavigateNode> initPath;
        long initPathStartMs = System.currentTimeMillis();
        try {
            initPath = calcOutboundNavigatePath(wrkMast, wrkMast.getSourceStaNo(), wrkMast.getStaNo(), pathLenFactor, decisionPathCache);
        } catch (Exception e) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 计算排序路径失败，当前站点={}", wrkMast.getBatch(), currentStationId);
            return null;
        }
        long initPathCostMs = System.currentTimeMillis() - initPathStartMs;

        long batchSeqScanStartMs = System.currentTimeMillis();
        Integer seq = getOutStationBatchSeq(initPath, currentStationId, wrkMast.getBatch());
        long batchSeqScanCostMs = System.currentTimeMillis() - batchSeqScanStartMs;
        boolean toTarget = seq == null
                ? currentBatchSeq.equals(wrkMast.getBatchSeq())
                : Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq());
        if (toTarget) {
            long releaseSlotCheckStartMs = System.currentTimeMillis();
            boolean hasReachableReleaseSlot = hasReachableOutReleaseSlot(wrkMast, currentStationId, wrkMast.getStaNo(), pathLenFactor, decisionPathCache);
            long releaseSlotCheckCostMs = System.currentTimeMillis() - releaseSlotCheckStartMs;
            if (hasReachableReleaseSlot) {
                return OutOrderDispatchDecision.direct(wrkMast.getStaNo());
            }
            long loopEvalStartMs = System.currentTimeMillis();
            StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
                    wrkMast.getWrkNo(),
                    currentStationId,
                    outOrderStationIds
            );
            long loopEvalCostMs = System.currentTimeMillis() - loopEvalStartMs;
            long circleTargetEvalStartMs = System.currentTimeMillis();
            Integer circleTarget = resolveNextCircleOrderTarget(
                    wrkMast,
                    currentStationId,
                    outOrderStationIds,
                    loopEvaluation.getExpectedLoopIssueCount(),
                    pathLenFactor,
                    decisionPathCache
            );
            long circleTargetEvalCostMs = System.currentTimeMillis() - circleTargetEvalStartMs;
            long totalCostMs = System.currentTimeMillis() - startMs;
            log.info("resolveCurrentOutOrderDispatchDecision profile, taskNo={}, currentStationId={}, batch={}, currentBatchSeq={}, taskBatchSeq={}, toTarget={}, batchQueryCostMs={}ms, initPathCostMs={}ms, batchSeqScanCostMs={}ms, releaseSlotCheckCostMs={}ms, loopEvalCostMs={}ms, circleTargetEvalCostMs={}ms, totalCostMs={}ms, circleTarget={}",
                    wrkMast.getWrkNo(), currentStationId, wrkMast.getBatch(), currentBatchSeq, wrkMast.getBatchSeq(), toTarget,
                    batchQueryCostMs, initPathCostMs, batchSeqScanCostMs, releaseSlotCheckCostMs, loopEvalCostMs, circleTargetEvalCostMs, totalCostMs, circleTarget);
            if (totalCostMs > CURRENT_OUT_ORDER_DECISION_SLOW_THRESHOLD_MS) {
                log.warn("resolveCurrentOutOrderDispatchDecision slow, taskNo={}, currentStationId={}, totalCostMs={}ms, batchQueryCostMs={}ms, initPathCostMs={}ms, batchSeqScanCostMs={}ms, releaseSlotCheckCostMs={}ms, circleTargetEvalCostMs={}ms",
                        wrkMast.getWrkNo(), currentStationId, totalCostMs, batchQueryCostMs, initPathCostMs, batchSeqScanCostMs, releaseSlotCheckCostMs, circleTargetEvalCostMs);
            }
            if (circleTarget == null) {
                News.taskInfo(wrkMast.getWrkNo(), "目标站当前不可进，且未找到可执行的下一排序检测点，当前站点={}", currentStationId);
                return null;
            }
            return OutOrderDispatchDecision.circle(circleTarget, loopEvaluation, true);
        }

        long loopEvalStartMs = System.currentTimeMillis();
        StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
                wrkMast.getWrkNo(),
                currentStationId,
                outOrderStationIds
        );
        long loopEvalCostMs = System.currentTimeMillis() - loopEvalStartMs;
        long circleTargetEvalStartMs = System.currentTimeMillis();
        Integer circleTarget = resolveNextCircleOrderTarget(
                wrkMast,
                currentStationId,
                outOrderStationIds,
                loopEvaluation.getExpectedLoopIssueCount(),
                pathLenFactor,
                decisionPathCache
        );
        long circleTargetEvalCostMs = System.currentTimeMillis() - circleTargetEvalStartMs;
        long totalCostMs = System.currentTimeMillis() - startMs;
        log.info("resolveCurrentOutOrderDispatchDecision profile, taskNo={}, currentStationId={}, batch={}, currentBatchSeq={}, taskBatchSeq={}, toTarget={}, batchQueryCostMs={}ms, initPathCostMs={}ms, batchSeqScanCostMs={}ms, loopEvalCostMs={}ms, circleTargetEvalCostMs={}ms, totalCostMs={}ms, circleTarget={}",
                wrkMast.getWrkNo(), currentStationId, wrkMast.getBatch(), currentBatchSeq, wrkMast.getBatchSeq(), toTarget,
                batchQueryCostMs, initPathCostMs, batchSeqScanCostMs, loopEvalCostMs, circleTargetEvalCostMs, totalCostMs, circleTarget);
        if (totalCostMs > CURRENT_OUT_ORDER_DECISION_SLOW_THRESHOLD_MS) {
            log.warn("resolveCurrentOutOrderDispatchDecision slow, taskNo={}, currentStationId={}, totalCostMs={}ms, batchQueryCostMs={}ms, initPathCostMs={}ms, batchSeqScanCostMs={}ms, circleTargetEvalCostMs={}ms",
                    wrkMast.getWrkNo(), currentStationId, totalCostMs, batchQueryCostMs, initPathCostMs, batchSeqScanCostMs, circleTargetEvalCostMs);
        }
        if (circleTarget == null) {
            News.taskInfo(wrkMast.getWrkNo(), "未找到可执行的下一排序检测点，当前站点={}", currentStationId);
            return null;
        }
        return OutOrderDispatchDecision.circle(circleTarget, loopEvaluation, true);
    }

    private StationTaskLoopService.LoopEvaluation evaluateOutOrderLoop(Integer taskNo,
                                                                       Integer currentStationId,
                                                                       List<Integer> outOrderStationIds) {
        if (stationTaskLoopService == null) {
            return new StationTaskLoopService.LoopEvaluation(
                    taskNo,
                    currentStationId,
                    StationTaskLoopService.LoopIdentitySnapshot.empty(),
                    0,
                    0,
                    false
            );
        }
        return stationTaskLoopService.evaluateLoop(
                taskNo,
                currentStationId,
                true,
                outOrderStationIds,
                "outOrderCircle"
        );
    }

    private Integer resolveDispatchOutOrderTarget(WrkMast wrkMast,
                                                  Integer sourceStationId,
                                                  Integer finalTargetStationId,
                                                  List<Integer> outOrderList,
                                                  Double pathLenFactor,
                                                  DecisionPathCache decisionPathCache) {
        if (finalTargetStationId == null) {
            return null;
        }
        if (sourceStationId == null || outOrderList == null || outOrderList.isEmpty()) {
            return finalTargetStationId;
        }

        try {
            List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, sourceStationId, finalTargetStationId, pathLenFactor, decisionPathCache);
            for (int i = nodes.size() - 1; i >= 0; i--) {
                Integer stationId = getStationIdFromNode(nodes.get(i));
                if (stationId == null) {
                    continue;
                }
                if (Objects.equals(stationId, finalTargetStationId)) {
                    continue;
                }
                if (outOrderList.contains(stationId)) {
                    return stationId;
                }
            }
        } catch (Exception ignore) {
        }
        return finalTargetStationId;
    }

    private boolean hasReachableOutReleaseSlot(WrkMast wrkMast,
                                               Integer currentStationId,
                                               Integer finalTargetStationId,
                                               Double pathLenFactor,
                                               DecisionPathCache decisionPathCache) {
        if (currentStationId == null || finalTargetStationId == null) {
            return true;
        }

        try {
            List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, currentStationId, finalTargetStationId, pathLenFactor, decisionPathCache);
            if (nodes == null || nodes.isEmpty()) {
                return true;
            }

            for (NavigateNode node : nodes) {
                Integer stationId = getStationIdFromNode(node);
                if (stationId == null || Objects.equals(stationId, currentStationId)) {
                    continue;
                }
                if (!isPathStationBlocked(stationId)) {
                    return true;
                }
            }
            return false;
        } catch (Exception ignore) {
            return true;
        }
    }

    private boolean isPathStationBlocked(Integer stationId) {
        if (stationId == null) {
            return true;
        }

        BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", stationId));
        if (basStation == null) {
            return true;
        }

        StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
        if (stationThread == null) {
            return true;
        }

        StationProtocol stationProtocol = stationThread.getStatusMap().get(stationId);
        if (stationProtocol == null) {
            return true;
        }

        return !stationProtocol.isAutoing()
                || stationProtocol.isLoading()
                || (stationProtocol.getTaskNo() != null && stationProtocol.getTaskNo() > 0);
    }

    private Integer resolveNextCircleOrderTarget(WrkMast wrkMast,
                                                 Integer currentStationId,
                                                 List<Integer> orderedOutStationList,
                                                 Integer expectedLoopIssueCount,
                                                 Double pathLenFactor,
                                                 DecisionPathCache decisionPathCache) {
        long startMs = System.currentTimeMillis();
        if (currentStationId == null || orderedOutStationList == null || orderedOutStationList.size() <= 1) {
            return null;
        }

        int startIndex = orderedOutStationList.indexOf(currentStationId);
        int total = orderedOutStationList.size();
        List<CircleTargetCandidate> candidateList = new ArrayList<>();
        int minPathLen = Integer.MAX_VALUE;
        int maxPathLen = 0;
        for (int offset = 1; offset < total; offset++) {
            int candidateIndex = (startIndex + offset + total) % total;
            Integer candidateStationId = orderedOutStationList.get(candidateIndex);
            if (candidateStationId == null || currentStationId.equals(candidateStationId)) {
                continue;
            }
            try {
                List<NavigateNode> path = calcOutboundNavigatePath(wrkMast, currentStationId, candidateStationId, pathLenFactor, decisionPathCache);
                if (path != null && !path.isEmpty()) {
                    candidateList.add(new CircleTargetCandidate(candidateStationId, path.size(), offset));
                    minPathLen = Math.min(minPathLen, path.size());
                    maxPathLen = Math.max(maxPathLen, path.size());
                }
            } catch (Exception ignore) {
            }
        }
        if (candidateList.isEmpty()) {
            return null;
        }
        candidateList.sort(new Comparator<CircleTargetCandidate>() {
            @Override
            public int compare(CircleTargetCandidate left, CircleTargetCandidate right) {
                if (left == right) {
                    return 0;
                }
                if (left == null) {
                    return 1;
                }
                if (right == null) {
                    return -1;
                }
                int pathCompare = Integer.compare(left.getPathLength(), right.getPathLength());
                if (pathCompare != 0) {
                    return pathCompare;
                }
                return Integer.compare(left.getOffset(), right.getOffset());
            }
        });
        Integer circleTarget = resolveGradualCircleTargetByPathLength(expectedLoopIssueCount, candidateList, pathLenFactor);
        long totalCostMs = System.currentTimeMillis() - startMs;
        log.info("resolveNextCircleOrderTarget profile, taskNo={}, currentStationId={}, candidateCount={}, successfulCandidateCount={}, selectedTargetStationId={}, minPathLen={}, maxPathLen={}, totalCostMs={}ms",
                wrkMast == null ? null : wrkMast.getWrkNo(), currentStationId, Math.max(total - 1, 0), candidateList.size(), circleTarget,
                minPathLen == Integer.MAX_VALUE ? 0 : minPathLen, maxPathLen, totalCostMs);
        if (totalCostMs > CIRCLE_TARGET_EVAL_SLOW_THRESHOLD_MS) {
            log.warn("resolveNextCircleOrderTarget slow, taskNo={}, currentStationId={}, successfulCandidateCount={}, selectedTargetStationId={}, totalCostMs={}ms",
                    wrkMast == null ? null : wrkMast.getWrkNo(), currentStationId, candidateList.size(), circleTarget, totalCostMs);
        }
        return circleTarget;
    }

    private Integer resolveGradualCircleTargetByPathLength(Integer expectedLoopIssueCount,
                                                           List<CircleTargetCandidate> candidateList,
                                                           Double pathLenFactor) {
        if (candidateList == null || candidateList.isEmpty()) {
            return null;
        }

        List<CircleTargetCandidate> tierList = new ArrayList<>();
        Integer lastPathLength = null;
        for (CircleTargetCandidate candidate : candidateList) {
            if (candidate == null) {
                continue;
            }
            if (lastPathLength == null || !Objects.equals(lastPathLength, candidate.getPathLength())) {
                tierList.add(candidate);
                lastPathLength = candidate.getPathLength();
            }
        }
        if (tierList.isEmpty()) {
            return candidateList.get(0).getStationId();
        }
        int defaultTierIndex = expectedLoopIssueCount == null || expectedLoopIssueCount <= 2
                ? 0
                : Math.min(expectedLoopIssueCount - 2, tierList.size() - 1);
        int factorTierIndex = (int) Math.round(normalizePathLenFactor(pathLenFactor) * (tierList.size() - 1));
        int tierIndex = Math.max(defaultTierIndex, factorTierIndex);
        return tierList.get(tierIndex).getStationId();
    }

    private Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
        if (pathList == null || pathList.isEmpty() || searchStationId == null || Cools.isEmpty(searchBatch)) {
            return null;
        }

        List<Integer> checkList = new ArrayList<>();
        for (int i = pathList.size() - 1; i >= 0; i--) {
            NavigateNode node = pathList.get(i);
            JSONObject value = JSONObject.parseObject(node.getNodeValue());
            if (value == null) {
                continue;
            }
            Integer stationId = value.getInteger("stationId");
            if (searchStationId.equals(stationId)) {
                break;
            }
            checkList.add(stationId);
        }

        HashMap<String, Integer> batchMap = new HashMap<>();
        for (Integer station : checkList) {
            BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", station));
            if (basStation == null) {
                continue;
            }

            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
            if (stationThread == null) {
                continue;
            }
            StationProtocol checkStationProtocol = stationThread.getStatusMap().get(station);
            if (checkStationProtocol == null) {
                continue;
            }
            if (checkStationProtocol.getTaskNo() > 0) {
                WrkMast checkWrkMast = wrkMastService.selectByWorkNo(checkStationProtocol.getTaskNo());
                if (checkWrkMast == null) {
                    continue;
                }

                if (!Cools.isEmpty(checkWrkMast.getBatch())) {
                    batchMap.put(checkWrkMast.getBatch(), checkWrkMast.getBatchSeq());
                }
            }
        }

        return batchMap.get(searchBatch);
    }

    private Integer getStationIdFromNode(NavigateNode node) {
        if (node == null || isBlank(node.getNodeValue())) {
            return null;
        }
        try {
            JSONObject value = JSONObject.parseObject(node.getNodeValue());
            return value == null ? null : value.getInteger("stationId");
        } catch (Exception ignore) {
            return null;
        }
    }

    private Double normalizePathLenFactor(Double pathLenFactor) {
        if (pathLenFactor == null || pathLenFactor < 0.0d) {
            return 0.0d;
        }
        if (pathLenFactor > 1.0d) {
            return 1.0d;
        }
        return pathLenFactor;
    }

    private String buildPathCacheKey(Integer currentTaskNo,
                                     Integer sourceStationId,
                                     Integer targetStationId,
                                     Double normalizedFactor) {
        return String.valueOf(currentTaskNo) + "->"
                + String.valueOf(sourceStationId) + "->"
                + String.valueOf(targetStationId) + "@"
                + String.format(java.util.Locale.ROOT, "%.4f", normalizedFactor == null ? 0.0d : normalizedFactor);
    }

    private boolean isBlank(String value) {
        return value == null || value.trim().isEmpty();
    }

    private static class DecisionPathCache {
        private final Map<String, List<NavigateNode>> pathMap = new HashMap<>();
    }
}