Java
Databus2与oracle链接失败，求解答
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我也要 关注 + 加入社区2017-11-10 16:44:11,034 +1289 [main] (INFO) {ServerContainer} Changing container config
2017-11-10 16:44:11,047 +1302 [main] (INFO) {RelayEventProducersRegistry} registering relay event producer for scheme mock: com.linkedin.databus2.producers.MockEventProducerServiceProvider@5d0957b1
2017-11-10 16:44:11,049 +1304 [main] (INFO) {RelayEventProducersRegistry} registering relay event producer for scheme or: com.linkedin.databus2.producers.OpenReplicatorEventProducerServiceProvider@361b9546
2017-11-10 16:44:11,051 +1306 [main] (INFO) {DatabusRelayMain} initializing producers
2017-11-10 16:44:11,051 +1306 [main] (INFO) {MultiServerSequenceNumberHandler} creating sequence number handler for server name:{"id":1,"name":"person"}
2017-11-10 16:44:11,052 +1307 [main] (INFO) {FileMaxSCNHandler} creating file:/databus2-gradle/build/databus2-example-relay-pkg/distributions/./maxScn/MaxSCN_person
2017-11-10 16:44:11,052 +1307 [main] (INFO) {FileMaxSCNHandler} Trying to read initial SCN from file: /databus2-gradle/build/databus2-example-relay-pkg/distributions/./maxScn/MaxSCN_person
2017-11-10 16:44:11,052 +1307 [main] (INFO) {FileMaxSCNHandler} Starting from MAX SCN:0
2017-11-10 16:44:11,053 +1308 [main] (INFO) {DatabusRelayMain} Starting server container with maxScnReaderWriter:/databus2-gradle/build/databus2-example-relay-pkg/distributions/./maxScn/MaxSCN_person:0
2017-11-10 16:44:11,054 +1309 [main] (INFO) {OracleEventProducerFactory} Loading schema for source id 101: {"type":"record","name":"Person_V1","namespace":"com.linkedin.events.example.person","fields":[{"name":"txn","type":["long","null"],"meta":"dbFieldName=TXN;dbFieldPosition=0;"},{"name":"key","type":["long","null"],"meta":"dbFieldName=KEY;dbFieldPosition=1;"},{"name":"firstName","type":["string","null"],"meta":"dbFieldName=FIRST_NAME;dbFieldPosition=2;"},{"name":"lastName","type":["string","null"],"meta":"dbFieldName=LAST_NAME;dbFieldPosition=3;"},{"name":"birthDate","type":["long","null"],"meta":"dbFieldName=BIRTH_DATE;dbFieldPosition=4;"},{"name":"deleted","type":["string","null"],"meta":"dbFieldName=DELETED;dbFieldPosition=5;"}],"meta":"dbFieldName=sy$person;pk=key;"}
2017-11-10 16:44:11,063 +1318 [main] (INFO) {OracleAvroGenericEventFactory} com.linkedin.events.example.person.Person_V1: using primary key override:key
2017-11-10 16:44:11,145 +1400 [main] (INFO) {OracleEventProducer_person} Registered source statistics mbean: com.linkedin.databus2:name=com.linkedin.events.example.person.Person,type=SourceStatistics
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} EventQuery=select /*+ first_rows LEADING(tx) */ person.sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, src.* from person.sy$person src, person.sy$txlog tx where src.txn=tx.txn and tx.scn > ? and tx.ora_rowscn > ?
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} Generated events query. source: com.linkedin.events.example.person.Person (id=101) ; eventQuery: select /*+ first_rows LEADING(tx) */ person.sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, src.* from person.sy$person src, person.sy$txlog tx where src.txn=tx.txn and tx.scn > ? and tx.ora_rowscn > ?
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} Generated Chunked Txn events query. source: com.linkedin.events.example.person.Person (id=101) ; chunkTxnEventQuery: SELECT scn, event_timestamp, src.* FROM person.sy$person src, ( SELECT /*+ first_rows LEADING(tx) cardinality(tx,1) */ person.sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, tx.txn, row_number() OVER (ORDER BY TX.SCN) r FROM person.sy$txlog tx WHERE tx.scn > ? AND tx.ora_rowscn > ? AND tx.scn < 9999999999999999999999999999) t WHERE src.txn = t.txn AND r<= ? ORDER BY r
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} Generated Chunked Scn events query. source: com.linkedin.events.example.person.Person (id=101) ; chunkScnEventQuery: SELECT /*+ first_rows LEADING(tx) */ sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, src.* FROM sy$person src, sy$txlog tx WHERE src.txn=tx.txn AND tx.scn > ? AND tx.ora_rowscn > ? AND tx.ora_rowscn <= ?
2017-11-10 16:44:11,147 +1402 [main] (INFO) {OracleEventProducerFactory} Created OracleEventProducer for config: name=person;part={"id":1,"name":"person"};uri=jdbc:oracle:thin:*/*@127.0.0.1:1521:orcl;role=MASTER;rsKey=;#src=1 with slowSourceQueryThreshold = 2000
2017-11-10 16:44:11,150 +1405 [main] (INFO) {MonitoringEventProducer} Reading source: _schema = |person.|
2017-11-10 16:44:11,152 +1407 [main] (INFO) {MonitoringEventProducer} Monitoring Query: select scn from person.sy$txlog where txn = ( select max(txn) from person.sy$person )
2017-11-10 16:44:11,153 +1408 [main] (INFO) {DBStatistics} Registered DB statistics statistics mbean: com.linkedin.databus2:name=person,type=DBStatistics
2017-11-10 16:44:11,153 +1408 [main] (INFO) {SourceDBStatistics} Registered DB source statistics statistics mbean: com.linkedin.databus2:name=com.linkedin.events.example.person.Person,type=SourceDBStatistics
2017-11-10 16:44:11,153 +1408 [main] (INFO) {MonitoringEventProducer} Created dbMonitor.person:1 producer
2017-11-10 16:44:11,154 +1409 [main] (INFO) {DatabusRelayMain} done initializing producers
2017-11-10 16:44:11,184 +1439 [main] (INFO) {ServerContainer} Saving port number in /databus2-gradle/build/databus2-example-relay-pkg/distributions/./containerPortNum_1322419623
2017-11-10 16:44:11,184 +1439 [main] (INFO) {ServerContainer} Serving container 1322419623 HTTP listener on port 11115
2017-11-10 16:44:11,184 +1439 [main] (INFO) {DatabusRelayMain} Starting. Producers are :{{"id":1,"name":"person"}=com.linkedin.databus2.producers.db.OracleEventProducer@529ad1e0}
2017-11-10 16:44:11,184 +1439 [main] (INFO) {DatabusRelayMain} starting db puller: person
2017-11-10 16:44:11,184 +1439 [main] (INFO) {OracleEventProducer_person} OracleEventProducer.start: sinceScn = -1restartScnOffset = 0
2017-11-10 16:44:11,185 +1440 [main] (INFO) {OracleEventProducer_person} attempting to read persistent event producer checkpoint
2017-11-10 16:44:11,185 +1440 [main] (INFO) {OracleEventProducer_person} Proposed sinceSCN = 0
2017-11-10 16:44:11,185 +1440 [main] (INFO) {OracleEventProducer_person} Starting EventProducerThread from SCN: 0
2017-11-10 16:44:11,189 +1444 [main] (INFO) {OracleEventProducer_person} person started.
2017-11-10 16:44:11,189 +1444 [main] (INFO) {DatabusRelayMain} db puller started: person
2017-11-10 16:44:11,190 +1445 [main] (INFO) {ServerContainer} Databus service started!
2017-11-10 16:44:11,190 +1445 [main] (INFO) {ServerContainer} waiting for shutdown request for container id: 1322419623
2017-11-10 16:44:11,239 +1494 [EventProducerThread_person] (ERROR) {DBHelper} Invoking a rollback after the connection is closed
2017-11-10 16:44:11,240 +1495 [EventProducerThread_person] (ERROR) {person} readEventsFromAllSources exception:The Network Adapter could not establish the connection
java.sql.SQLException: The Network Adapter could not establish the connection
at oracle.jdbc.driver.SQLStateMapping.newSQLException(SQLStateMapping.java:70)
at oracle.jdbc.driver.DatabaseError.newSQLException(DatabaseError.java:133)
at oracle.jdbc.driver.DatabaseError.throwSqlException(DatabaseError.java:199)
at oracle.jdbc.driver.DatabaseError.throwSqlException(DatabaseError.java:480)
at oracle.jdbc.driver.T4CConnection.logon(T4CConnection.java:413)
at oracle.jdbc.driver.PhysicalConnection.<init>(PhysicalConnection.java:508)
at oracle.jdbc.driver.T4CConnection.<init>(T4CConnection.java:203)
at oracle.jdbc.driver.T4CDriverExtension.getConnection(T4CDriverExtension.java:33)
at oracle.jdbc.driver.OracleDriver.connect(OracleDriver.java:510)
at oracle.jdbc.pool.OracleDataSource.getPhysicalConnection(OracleDataSource.java:275)
at oracle.jdbc.pool.OracleDataSource.getConnection(OracleDataSource.java:206)
at oracle.jdbc.pool.OracleDataSource.getConnection(OracleDataSource.java:156)
at com.linkedin.databus2.producers.db.OracleTxlogEventReader.resetConnections(OracleTxlogEventReader.java:606)
at com.linkedin.databus2.producers.db.OracleTxlogEventReader.readEventsFromAllSources(OracleTxlogEventReader.java:193)
at com.linkedin.databus2.producers.db.OracleEventProducer.readEventsFromAllSources(OracleEventProducer.java:120)
at com.linkedin.databus2.producers.AbstractEventProducer$EventProducerThread.run(AbstractEventProducer.java:273)
Caused by: oracle.net.ns.NetException: The Network Adapter could not establish the connection
at oracle.net.nt.ConnStrategy.execute(ConnStrategy.java:328)
at oracle.net.resolver.AddrResolution.resolveAndExecute(AddrResolution.java:421)
at oracle.net.ns.NSProtocol.establishConnection(NSProtocol.java:630)
at oracle.net.ns.NSProtocol.connect(NSProtocol.java:206)
at oracle.jdbc.driver.T4CConnection.connect(T4CConnection.java:966)
at oracle.jdbc.driver.T4CConnection.logon(T4CConnection.java:292)
... 11 more
Caused by: java.net.ConnectException: 拒绝连接
at java.net.PlainSocketImpl.socketConnect(Native Method)
at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:339)
at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:200)
at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:182)
at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
at java.net.Socket.connect(Socket.java:579)
at java.net.Socket.connect(Socket.java:528)
at java.net.Socket.<init>(Socket.java:425)
at java.net.Socket.<init>(Socket.java:208)
at oracle.net.nt.TcpNTAdapter.connect(TcpNTAdapter.java:127)
at oracle.net.nt.ConnOption.connect(ConnOption.java:126)
at oracle.net.nt.ConnStrategy.execute(ConnStrategy.java:306)
... 16 more
2017-11-10 16:44:11,047 +1302 [main] (INFO) {RelayEventProducersRegistry} registering relay event producer for scheme mock: com.linkedin.databus2.producers.MockEventProducerServiceProvider@5d0957b1
2017-11-10 16:44:11,049 +1304 [main] (INFO) {RelayEventProducersRegistry} registering relay event producer for scheme or: com.linkedin.databus2.producers.OpenReplicatorEventProducerServiceProvider@361b9546
2017-11-10 16:44:11,051 +1306 [main] (INFO) {DatabusRelayMain} initializing producers
2017-11-10 16:44:11,051 +1306 [main] (INFO) {MultiServerSequenceNumberHandler} creating sequence number handler for server name:{"id":1,"name":"person"}
2017-11-10 16:44:11,052 +1307 [main] (INFO) {FileMaxSCNHandler} creating file:/databus2-gradle/build/databus2-example-relay-pkg/distributions/./maxScn/MaxSCN_person
2017-11-10 16:44:11,052 +1307 [main] (INFO) {FileMaxSCNHandler} Trying to read initial SCN from file: /databus2-gradle/build/databus2-example-relay-pkg/distributions/./maxScn/MaxSCN_person
2017-11-10 16:44:11,052 +1307 [main] (INFO) {FileMaxSCNHandler} Starting from MAX SCN:0
2017-11-10 16:44:11,053 +1308 [main] (INFO) {DatabusRelayMain} Starting server container with maxScnReaderWriter:/databus2-gradle/build/databus2-example-relay-pkg/distributions/./maxScn/MaxSCN_person:0
2017-11-10 16:44:11,054 +1309 [main] (INFO) {OracleEventProducerFactory} Loading schema for source id 101: {"type":"record","name":"Person_V1","namespace":"com.linkedin.events.example.person","fields":[{"name":"txn","type":["long","null"],"meta":"dbFieldName=TXN;dbFieldPosition=0;"},{"name":"key","type":["long","null"],"meta":"dbFieldName=KEY;dbFieldPosition=1;"},{"name":"firstName","type":["string","null"],"meta":"dbFieldName=FIRST_NAME;dbFieldPosition=2;"},{"name":"lastName","type":["string","null"],"meta":"dbFieldName=LAST_NAME;dbFieldPosition=3;"},{"name":"birthDate","type":["long","null"],"meta":"dbFieldName=BIRTH_DATE;dbFieldPosition=4;"},{"name":"deleted","type":["string","null"],"meta":"dbFieldName=DELETED;dbFieldPosition=5;"}],"meta":"dbFieldName=sy$person;pk=key;"}
2017-11-10 16:44:11,063 +1318 [main] (INFO) {OracleAvroGenericEventFactory} com.linkedin.events.example.person.Person_V1: using primary key override:key
2017-11-10 16:44:11,145 +1400 [main] (INFO) {OracleEventProducer_person} Registered source statistics mbean: com.linkedin.databus2:name=com.linkedin.events.example.person.Person,type=SourceStatistics
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} EventQuery=select /*+ first_rows LEADING(tx) */ person.sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, src.* from person.sy$person src, person.sy$txlog tx where src.txn=tx.txn and tx.scn > ? and tx.ora_rowscn > ?
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} Generated events query. source: com.linkedin.events.example.person.Person (id=101) ; eventQuery: select /*+ first_rows LEADING(tx) */ person.sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, src.* from person.sy$person src, person.sy$txlog tx where src.txn=tx.txn and tx.scn > ? and tx.ora_rowscn > ?
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} Generated Chunked Txn events query. source: com.linkedin.events.example.person.Person (id=101) ; chunkTxnEventQuery: SELECT scn, event_timestamp, src.* FROM person.sy$person src, ( SELECT /*+ first_rows LEADING(tx) cardinality(tx,1) */ person.sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, tx.txn, row_number() OVER (ORDER BY TX.SCN) r FROM person.sy$txlog tx WHERE tx.scn > ? AND tx.ora_rowscn > ? AND tx.scn < 9999999999999999999999999999) t WHERE src.txn = t.txn AND r<= ? ORDER BY r
2017-11-10 16:44:11,147 +1402 [main] (INFO) {person} Generated Chunked Scn events query. source: com.linkedin.events.example.person.Person (id=101) ; chunkScnEventQuery: SELECT /*+ first_rows LEADING(tx) */ sync_core.getScn(tx.scn, tx.ora_rowscn) scn, tx.ts event_timestamp, src.* FROM sy$person src, sy$txlog tx WHERE src.txn=tx.txn AND tx.scn > ? AND tx.ora_rowscn > ? AND tx.ora_rowscn <= ?
2017-11-10 16:44:11,147 +1402 [main] (INFO) {OracleEventProducerFactory} Created OracleEventProducer for config: name=person;part={"id":1,"name":"person"};uri=jdbc:oracle:thin:*/*@127.0.0.1:1521:orcl;role=MASTER;rsKey=;#src=1 with slowSourceQueryThreshold = 2000
2017-11-10 16:44:11,150 +1405 [main] (INFO) {MonitoringEventProducer} Reading source: _schema = |person.|
2017-11-10 16:44:11,152 +1407 [main] (INFO) {MonitoringEventProducer} Monitoring Query: select scn from person.sy$txlog where txn = ( select max(txn) from person.sy$person )
2017-11-10 16:44:11,153 +1408 [main] (INFO) {DBStatistics} Registered DB statistics statistics mbean: com.linkedin.databus2:name=person,type=DBStatistics
2017-11-10 16:44:11,153 +1408 [main] (INFO) {SourceDBStatistics} Registered DB source statistics statistics mbean: com.linkedin.databus2:name=com.linkedin.events.example.person.Person,type=SourceDBStatistics
2017-11-10 16:44:11,153 +1408 [main] (INFO) {MonitoringEventProducer} Created dbMonitor.person:1 producer
2017-11-10 16:44:11,154 +1409 [main] (INFO) {DatabusRelayMain} done initializing producers
2017-11-10 16:44:11,184 +1439 [main] (INFO) {ServerContainer} Saving port number in /databus2-gradle/build/databus2-example-relay-pkg/distributions/./containerPortNum_1322419623
2017-11-10 16:44:11,184 +1439 [main] (INFO) {ServerContainer} Serving container 1322419623 HTTP listener on port 11115
2017-11-10 16:44:11,184 +1439 [main] (INFO) {DatabusRelayMain} Starting. Producers are :{{"id":1,"name":"person"}=com.linkedin.databus2.producers.db.OracleEventProducer@529ad1e0}
2017-11-10 16:44:11,184 +1439 [main] (INFO) {DatabusRelayMain} starting db puller: person
2017-11-10 16:44:11,184 +1439 [main] (INFO) {OracleEventProducer_person} OracleEventProducer.start: sinceScn = -1restartScnOffset = 0
2017-11-10 16:44:11,185 +1440 [main] (INFO) {OracleEventProducer_person} attempting to read persistent event producer checkpoint
2017-11-10 16:44:11,185 +1440 [main] (INFO) {OracleEventProducer_person} Proposed sinceSCN = 0
2017-11-10 16:44:11,185 +1440 [main] (INFO) {OracleEventProducer_person} Starting EventProducerThread from SCN: 0
2017-11-10 16:44:11,189 +1444 [main] (INFO) {OracleEventProducer_person} person started.
2017-11-10 16:44:11,189 +1444 [main] (INFO) {DatabusRelayMain} db puller started: person
2017-11-10 16:44:11,190 +1445 [main] (INFO) {ServerContainer} Databus service started!
2017-11-10 16:44:11,190 +1445 [main] (INFO) {ServerContainer} waiting for shutdown request for container id: 1322419623
2017-11-10 16:44:11,239 +1494 [EventProducerThread_person] (ERROR) {DBHelper} Invoking a rollback after the connection is closed
2017-11-10 16:44:11,240 +1495 [EventProducerThread_person] (ERROR) {person} readEventsFromAllSources exception:The Network Adapter could not establish the connection
java.sql.SQLException: The Network Adapter could not establish the connection
at oracle.jdbc.driver.SQLStateMapping.newSQLException(SQLStateMapping.java:70)
at oracle.jdbc.driver.DatabaseError.newSQLException(DatabaseError.java:133)
at oracle.jdbc.driver.DatabaseError.throwSqlException(DatabaseError.java:199)
at oracle.jdbc.driver.DatabaseError.throwSqlException(DatabaseError.java:480)
at oracle.jdbc.driver.T4CConnection.logon(T4CConnection.java:413)
at oracle.jdbc.driver.PhysicalConnection.<init>(PhysicalConnection.java:508)
at oracle.jdbc.driver.T4CConnection.<init>(T4CConnection.java:203)
at oracle.jdbc.driver.T4CDriverExtension.getConnection(T4CDriverExtension.java:33)
at oracle.jdbc.driver.OracleDriver.connect(OracleDriver.java:510)
at oracle.jdbc.pool.OracleDataSource.getPhysicalConnection(OracleDataSource.java:275)
at oracle.jdbc.pool.OracleDataSource.getConnection(OracleDataSource.java:206)
at oracle.jdbc.pool.OracleDataSource.getConnection(OracleDataSource.java:156)
at com.linkedin.databus2.producers.db.OracleTxlogEventReader.resetConnections(OracleTxlogEventReader.java:606)
at com.linkedin.databus2.producers.db.OracleTxlogEventReader.readEventsFromAllSources(OracleTxlogEventReader.java:193)
at com.linkedin.databus2.producers.db.OracleEventProducer.readEventsFromAllSources(OracleEventProducer.java:120)
at com.linkedin.databus2.producers.AbstractEventProducer$EventProducerThread.run(AbstractEventProducer.java:273)
Caused by: oracle.net.ns.NetException: The Network Adapter could not establish the connection
at oracle.net.nt.ConnStrategy.execute(ConnStrategy.java:328)
at oracle.net.resolver.AddrResolution.resolveAndExecute(AddrResolution.java:421)
at oracle.net.ns.NSProtocol.establishConnection(NSProtocol.java:630)
at oracle.net.ns.NSProtocol.connect(NSProtocol.java:206)
at oracle.jdbc.driver.T4CConnection.connect(T4CConnection.java:966)
at oracle.jdbc.driver.T4CConnection.logon(T4CConnection.java:292)
... 11 more
Caused by: java.net.ConnectException: 拒绝连接
at java.net.PlainSocketImpl.socketConnect(Native Method)
at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:339)
at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:200)
at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:182)
at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
at java.net.Socket.connect(Socket.java:579)
at java.net.Socket.connect(Socket.java:528)
at java.net.Socket.<init>(Socket.java:425)
at java.net.Socket.<init>(Socket.java:208)
at oracle.net.nt.TcpNTAdapter.connect(TcpNTAdapter.java:127)
at oracle.net.nt.ConnOption.connect(ConnOption.java:126)
at oracle.net.nt.ConnStrategy.execute(ConnStrategy.java:306)
... 16 more
...全文
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开绕组永磁同步电机模型FOC矢量控制SVPWM仿真Simulink模型
内容概要：本文系统解读了一套完整的多机器人路径规划（MAPF）MATLAB代码库，聚焦于优先级规划算法的工程实现。该框架采用四层架构设计（几何、拓扑、调度与呈现），实现了从地图解析、Petri网建模、基于动态边权膨胀的路径规划，到时间同步冲突消解及动画可视化的全流程。核心创新包括动态边权膨胀机制、节点预留历史查表优化、几何惩罚驱动的局部同步策略以及Petri网双阶段优化方法，有效提升了大规模场景下的求解效率与可行性。文章详细阐述了各模块之间的接口契约与不变量，对比分析了三种时间同步策略的适用场景，并强调了信息前移、模块解耦与可维护性设计的重要性，为MAPF的研究与教学提供了可复现、可批判的参考文本。; 适合人群：具备一定MATLAB编程基础，从事机器人路径规划、智能调度、自动化控制等相关领域的科研人员与研究生。; 使用场景及目标：① 学习并复现多机器人路径规划中的优先级规划算法及其工程实现细节；② 深入理解动态边权膨胀、节点预留历史、局部同步等核心机制的设计原理与性能优化策略；③ 掌握Petri网建模与整数规划在路径调度中的应用，以及多智能体系统冲突消解与可视化的方法。; 阅读建议：此资源以工程化框架形式呈现，不仅关注算法逻辑，更重视模块化设计与系统集成。建议读者按照数据流顺序逐步学习，结合代码调试理解各层交互，并尝试替换不同同步策略以评估其对效率与解质量的影响，从而深入掌握大规模MAPF问题的求解范式。
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