异常捕获path_planner

path_plan/path_plannner.py

@@ -274,23 +274,28 @@ class PathPlanner(WalkManage):
 
         # except Exception as es:
         #     logger.error("无派车计划可用")
+        try:
+
+            for i in range(get_value("dynamic_dump_num")):
+                for j in range(get_value("dynamic_excavator_num")):
+                    load_area_index = self.excavator_index_to_load_area_index_dict[j]
+                    unload_area_index = self.dump_index_to_unload_area_index_dict[i]
+                    logger.info("cost_to_excavator")
+                    logger.info(self.cost_to_excavator)
+                    # self.cost_to_excavator[i][j] = self.cost_to_load_area[unload_area_index][load_area_index] / walk_weight[i][j] + group_walk_available[i][j]
+                    self.cost_to_excavator[i][j] = self.cost_to_load_area[unload_area_index][load_area_index] / \
+                                                   walk_to_excavator_weight[i][j]
+                    # self.cost_to_dump[i][j] = self.cost_to_unload_area[unload_area_index][load_area_index] / walk_weight[i][j] + walk_available[i][j] + group_walk_available[i][j]
+                    self.cost_to_dump[i][j] = self.cost_to_unload_area[unload_area_index][load_area_index] / \
+                                              walk_to_dump_weight[j][i]
 
-        for i in range(get_value("dynamic_dump_num")):
             for j in range(get_value("dynamic_excavator_num")):
                 load_area_index = self.excavator_index_to_load_area_index_dict[j]
-                unload_area_index = self.dump_index_to_unload_area_index_dict[i]
-                logger.info("cost_to_excavator")
-                logger.info(self.cost_to_excavator)
-                # self.cost_to_excavator[i][j] = self.cost_to_load_area[unload_area_index][load_area_index] / walk_weight[i][j] + group_walk_available[i][j]
-                self.cost_to_excavator[i][j] = self.cost_to_load_area[unload_area_index][load_area_index] / \
-                                               walk_to_excavator_weight[i][j]
-                # self.cost_to_dump[i][j] = self.cost_to_unload_area[unload_area_index][load_area_index] / walk_weight[i][j] + walk_available[i][j] + group_walk_available[i][j]
-                self.cost_to_dump[i][j] = self.cost_to_unload_area[unload_area_index][load_area_index] / \
-                                          walk_to_dump_weight[j][i]
-
-        for j in range(get_value("dynamic_excavator_num")):
-            load_area_index = self.excavator_index_to_load_area_index_dict[j]
-            self.cost_park_to_excavator[0][j] = self.cost_park_to_load_area[0][load_area_index] / park_walk_weight[0][j]
+                self.cost_park_to_excavator[0][j] = self.cost_park_to_load_area[0][load_area_index] / park_walk_weight[0][j]
+
+        except Exception as es:
+            logger.error(es)
+            logger.error("路网映射异常")
 
         logger.info("真实路网距离-驶往挖机:")
         logger.info(self.distance_to_excavator)