topo first

.idea/integrated-scheduling-v3.iml

@@ -2,7 +2,7 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7 (waytous)" jdkType="Python SDK" />
+    <orderEntry type="jdk" jdkName="Python 3.7 (diapatch) (2)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>
\ No newline at end of file

.idea/misc.xml

@@ -3,5 +3,5 @@
   <component name="JavaScriptSettings">
     <option name="languageLevel" value="ES6" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (waytous)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (diapatch) (2)" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file

config.json

 {
     "para": {
-        "log_path": "/usr/local/fleet-log/dispatch",
+
+       "log_path":  "/Users/guoao/Desktop/work_log/wek33/integrated-scheduling-v3-master/dispatch",
         "empty_speed": 25,
         "heavy_speed": 22,
         "dump_target_mass": 5000,

dispatch_with_topo/.gitignore

+/venv/
+/.idea/
+/Logs/
+/waytous/

dispatch_with_topo/CHANGELOG.txt

+^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package Dispatch
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+
+--------------------
+[version]:  1.0.1
+[message]:  add
+[feather]:
+[fix    ]:
+[TODO   ]:
+[info   ]: author: zxt ; time: 2021-07-07 15:46:00  ; email:   ; tel:   ;
+--------------------
+
+
+
+--------------------
+[version]:  1.1.1
+[message]:  refactor real-time dispatch function
+[feather]:
+[fix    ]:
+[TODO   ]:
+[info   ]: author: zxt ; time: 2021-07-23 16:59:00  ; email:   ; tel:   ;
+--------------------
+
+
+--------------------
+[version]:  1.2.1
+[message]:  add traffic flow planning
+[feather]:
+[fix    ]:
+[TODO   ]:
+[info   ]: author: zxt ; time: 2021-07-23 16:59:00  ; email:   ; tel:   ;
+--------------------
+
+
+--------------------
+[version]:  3.0.0
+[message]:  change dynamic dispatch mode
+[feather]:
+[fix    ]:
+[TODO   ]:
+[info   ]: author: zxt ; time: 2021-11-03 10:13:00  ; email:   ; tel:   ;
+--------------------
\ No newline at end of file

dispatch_with_topo/config.json

+{
+    "para": {
+
+       "log_path":  "/Users/guoao/Desktop/work_log/wek33/integrated-scheduling-v3-master/dispatch",
+        "empty_speed": 25,
+        "heavy_speed": 22,
+        "dump_target_mass": 5000,
+        "excavator_target_mass": 5000
+    },
+
+    "mysql": {
+        "host": "192.168.28.111",
+        "port": "3306",
+        "user": "root",
+        "password": "Huituo@123",
+        "database": "waytous"
+    },
+
+    "postgresql": {
+        "host": "192.168.28.111",
+        "port": "5432",
+        "user": "postgres",
+        "password": "Huituo@123",
+        "database": "shenbao_2021520"
+    },
+
+    "redis": {
+        "host": "192.168.28.111",
+        "password": "Huituo@123"
+    }
+}

dispatch_with_topo/equipment/__init__.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/8/24 11:31
+# @Author : Opfer
+# @Site :
+# @File : __init__.py    
+# @Software: PyCharm
\ No newline at end of file

dispatch_with_topo/equipment/dump.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/8/24 11:28
+# @Author : Opfer
+# @Site :
+# @File : dump.py    
+# @Software: PyCharm
+
+from para_config import *
+from settings import *
+
+
+# 卸载设备类
+class DumpInfo(WalkManage):
+    def __init__(self):
+        # 卸载设备数量
+        self.dynamic_dump_num = get_value("dynamic_dump_num")
+        # 用于动态调度的卸载设备集合
+        self.dynamic_dump_set = get_value("dynamic_dump_set")
+        # 开始时间
+        self.start_time = datetime.now()
+        # 卸载时间
+        self.unloading_time = np.zeros(self.dynamic_dump_num)
+        # 入场时间
+        self.entrance_time = np.zeros(self.dynamic_dump_num)
+        # 出场时间
+        self.exit_time = np.zeros(self.dynamic_dump_num)
+        # 卸载点物料类型
+        self.dump_material = {}
+        # 卸点优先级
+        self.dump_priority_coefficient = np.ones(self.dynamic_dump_num)
+        # 卸点卸载能力
+        self.dump_strength = np.zeros(self.dynamic_dump_num)
+
+        # 初始化读取映射及路网
+        self.period_map_para_load()
+        self.period_walk_para_load()
+
+        # 日志器
+        self.logger = get_logger("zxt.dump")
+
+        # 参数初始化
+        self.para_period_update()
+
+
+    def get_unloading_time(self):
+        return self.unloading_time
+
+    def get_dump_num(self):
+        return self.dynamic_dump_num
+
+    def get_dynamic_dump_set(self):
+        return self.dynamic_dump_set
+
+    def get_unloading_task_time(self):
+        unloading_time = self.unloading_time
+
+        dump_entrance_time = self.entrance_time
+
+        dump_exit_time = self.exit_time
+
+        unloading_task_time = unloading_time + dump_entrance_time + dump_exit_time
+
+        return unloading_task_time
+
+    # 更新卸载设备卸载时间
+    def update_dump_unloadtime(self):
+        self.unloading_time = np.zeros(self.dynamic_dump_num)
+
+        for dump_id in self.dump_uuid_to_index_dict.keys():
+            ave_unload_time = 0
+            unload_count = 0
+            # try:
+            #     for query in (
+            #         session_mysql.query(JobRecord.start_time, JobRecord.end_time)
+            #         .join(Equipment, JobRecord.equipment_id == Equipment.equipment_id)
+            #         .filter(Equipment.id == dump_id, JobRecord.end_time != None)
+            #         .order_by(JobRecord.start_time.desc())
+            #         .limit(10)
+            #     ):
+            #         ave_unload_time = ave_unload_time + float(
+            #             (query.end_time - query.start_time)
+            #             / timedelta(hours=0, minutes=1, seconds=0)
+            #         )
+            #         unload_count = unload_count + 1
+            #     self.unloading_time[self.dump_uuid_to_index_dict[dump_id]] = (
+            #         ave_unload_time / unload_count
+            #     )
+            # except Exception as es:
+            #     self.logger.error(f"卸载设备 {dump_id} 卸载时间信息缺失, 已设为默认值(1min)")
+            #     self.logger.error(es)
+            self.unloading_time[self.dump_uuid_to_index_dict[dump_id]] = 5.00
+        # print("average_unload_time: ", self.unloading_time[self.dump_uuid_to_index_dict[dump_id]])
+
+    # 更新卸载设备出入时间
+    def update_dump_entrance_exit_time(self):
+        self.entrance_time = np.zeros(self.dynamic_dump_num)
+        self.exit_time = np.zeros(self.dynamic_dump_num)
+        now = datetime.now().strftime("%Y-%m-%d")
+
+        for dump_id in self.dump_uuid_to_index_dict.keys():
+            # try:
+            #     for query in (
+            #         session_mysql.query(WorkRecord)
+            #         .filter(
+            #             WorkRecord.equipment_id == dump_id, WorkRecord.work_day >= now
+            #         )
+            #         .first()
+            #     ):
+            #         self.entrance_time[self.dump_uuid_to_index_dict[dump_id]] = float(
+            #             query.load_entrance_time / query.load_entrance_count
+            #         )
+            #         self.exit_time[self.dump_uuid_to_index_dict[dump_id]] = float(
+            #             query.exit_entrance_time / query.exit_entrance_count
+            #         )
+            # except Exception as es:
+            #     self.logger.error(f"卸载设备 {dump_id} 出入场时间信息缺失, 已设为默认值(1min)")
+            #     self.logger.error(es)
+            self.entrance_time[self.dump_uuid_to_index_dict[dump_id]] = 0.50
+            self.exit_time[self.dump_uuid_to_index_dict[dump_id]] = 0.50
+
+    def update_dump_material(self):
+        self.dump_material = {}
+        for dump_id in get_value("dynamic_dump_set"):
+            try:
+                unload_area_id = session_mysql.query(Dispatch).filter_by(dump_id=dump_id, isauto=1, isdeleted=0).first().unload_area_id
+                dump_material_id = session_postgre.query(DumpArea).filter_by(Id=unload_area_id).first().Material
+                self.dump_material[dump_id] = dump_material_id
+            except Exception as es:
+                self.logger.error("无动态派车计划可用")
+                self.logger.error(es)
+
+    def update_dump_priority(self):
+        self.dump_priority_coefficient = np.ones(self.dynamic_dump_num)
+        for dump_id in self.dynamic_dump_set:
+            try:
+                unload_area_index = self.dump_index_to_unload_area_index_dict[self.dump_uuid_to_index_dict[dump_id]]
+                unload_area_id = unload_area_index_to_uuid_dict[unload_area_index]
+                item = session_postgre.query(DumpArea).filter_by(Id=unload_area_id).first()
+                self.dump_priority_coefficient[self.dump_uuid_to_index_dict[dump_id]] += item.Priority
+            except Exception as es:
+                self.logger.error("无动态派车计划可用")
+                self.logger.error(es)
+
+    def update_unload_ability(self):
+        try:
+            rule3 = session_mysql.query(DispatchRule).filter_by(id=3).first()
+            if not rule3.disabled:
+                for dump_index in range(self.dynamic_dump_num):
+                    unload_area_id = unload_area_index_to_uuid_dict[self.dump_index_to_unload_area_index_dict[dump_index]]
+
+                    unload_ability = session_postgre.query(DumpArea).filter_by(Id=unload_area_id).first().UnloadAbililty
+                    self.dump_strength[dump_index] = unload_ability # 卸载设备最大卸载能力，单位吨/小时
+
+                    # if unload_ability < 200:
+                    #     raise Exception("卸载点卸载能力异常")
+            else:
+                self.dump_strength = np.full(self.dynamic_dump_num, 5000)
+
+        except Exception as es:
+            self.logger.error(es)
+            self.logger.error("卸载点卸载信息读取异常")
+
+    def reset(self):
+        # 卸载设备数量
+        self.dynamic_dump_num = get_value("dynamic_dump_num")
+        # 用于动态调度的卸载设备集合
+        self.dynamic_dump_set = get_value("dynamic_dump_set")
+        # 卸载时间
+        self.unloading_time = np.zeros(self.dynamic_dump_num)
+        # 入场时间
+        self.entrance_time = np.zeros(self.dynamic_dump_num)
+        # 出场时间
+        self.exit_time = np.zeros(self.dynamic_dump_num)
+        # 卸载点物料类型
+        self.dump_material = {}
+        # 卸点优先级
+        self.dump_priority_coefficient = np.ones(self.dynamic_dump_num)
+        # 卸点卸载能力
+        self.dump_strength = np.zeros(self.dynamic_dump_num)
+
+    def para_period_update(self):
+
+        self.reset()
+
+        # print("Dump update!")
+
+        self.logger.info("Dump update!")
+
+        # 装载周期参数
+        self.period_map_para_load()
+
+        self.period_walk_para_load()
+
+        # 计算平均卸载时间
+        self.update_dump_unloadtime()
+
+        # 计算平均进出场时间
+        self.update_dump_entrance_exit_time()
+
+        # 更新卸点物料
+        self.update_dump_material()
+
+        # 更新设备优先级
+        self.update_dump_priority()
+
+        # 更新卸点卸载能力
+        self.update_unload_ability()
+        #
+        # # 卸载目标产量
+        # self.dump_target_mass = np.full(self.dynamic_dump_num, dump_target_mass)

dispatch_with_topo/group_control/__init__.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/11/26 11:38
+# @Author : Opfer
+# @Site :
+# @File : __init__.py    
+# @Software: PyCharm
\ No newline at end of file

dispatch_with_topo/path_plan/__init__.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/8/3 10:51
+# @Author : Opfer
+# @Site :
+# @File : __init__.py.py    
+# @Software: PyCharm
\ No newline at end of file

dispatch_with_topo/path_plan/priority_control.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/9/3 14:44
+# @Author : Opfer
+# @Site :
+# @File : priority_control.py
+# @Software: PyCharm
+
+from equipment.truck import *
+from equipment.dump import *
+from equipment.excavator import *
+from para_config import *
+
+from path_plan.topo_graph import *
+
+class PriorityController():
+
+    def __init__(self, dump, excavator, truck):
+        # 设备类
+        self.dump = dump
+        self.excavator = excavator
+        self.truck = truck
+        self.topo = Topo()
+
+        # 获取日志器
+        self.logger = get_logger("zxt.prio")
+        
+
+    def weighted_walk_calc(self):
+        """
+        计算运输路线权重, 权重影响因素：设备优先级, 物料优先级,
+        :return:
+            walk_weight: 卸载-装载区 路网权重
+            park_walk_weight: 备停区-装载区 路网权重
+        """
+        dynamic_dump_num = get_value("dynamic_dump_num")
+        dynamic_excavator_num = get_value("dynamic_excavator_num")
+        dynamic_dump_set = get_value("dynamic_dump_set")
+        dynamic_excavator_set = get_value("dynamic_excavator_set")
+        walk_to_excavator_weight = np.ones((dynamic_dump_num, dynamic_excavator_num))
+        walk_to_dump_weight = np.ones((dynamic_excavator_num, dynamic_dump_num))
+        excavator_priority = self.excavator.excavator_priority_coefficient
+        excavator_material_priority = self.excavator.excavator_material_priority
+        dump_priority = self.dump.dump_priority_coefficient
+        dump_material_priority = np.ones(dynamic_dump_num)
+        park_walk_weight = np.ones((park_num, dynamic_excavator_num))
+
+        # 检测设备优先级是否启动
+        rule6 = session_mysql.query(DispatchRule).filter_by(id=6).first()
+
+        if not rule6.disabled:
+            for dump_id in dynamic_dump_set:
+                for excavator_id in dynamic_excavator_set:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_inedx = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    walk_to_excavator_weight[dump_index][excavator_inedx] += excavator_priority[excavator_inedx]
+                    walk_to_dump_weight[excavator_inedx][dump_index] += dump_priority[dump_index]
+            park_walk_weight = park_walk_weight * self.excavator.excavator_priority_coefficient
+
+        # 检测物料优先级是否启动
+        rule7 = session_mysql.query(DispatchRule).filter_by(id=7).first()
+
+        if not rule7.disabled:
+            for dump_id in dynamic_dump_set:
+                for excavator_id in dynamic_excavator_set:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_inedx = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    walk_to_excavator_weight[dump_index][excavator_inedx] += excavator_material_priority[excavator_inedx]
+                    walk_to_dump_weight[excavator_inedx][dump_index] += dump_material_priority[dump_index]
+            park_walk_weight = park_walk_weight * self.excavator.excavator_material_priority
+
+        try:
+            walk_to_excavator_weight = walk_to_excavator_weight - (walk_to_excavator_weight.min() - 1)
+
+            walk_to_dump_weight = walk_to_dump_weight - (walk_to_dump_weight.min() - 1)
+
+            park_walk_weight = park_walk_weight - (park_walk_weight.min() - 1)
+        except Exception as es:
+            self.logger.errro(es)
+            self.logger.error("优先级归一化异常")
+
+        return walk_to_excavator_weight, walk_to_dump_weight, park_walk_weight
+
+    def walk_available_calc(self):
+        """
+        计算路网可通行性(物料, 地图, 分组三者综合)
+        :return:
+            walk_available: 路网可通行性(dump_num, excavator_num)
+        """
+
+        map_walk_available = self.update_map_walk_available()
+        group_walk_available = self.update_group_walk_available()
+        material_walk_available = self.update_material_walk_available()
+
+        walk_available = map_walk_available * group_walk_available * material_walk_available
+
+        return walk_available
+
+    def update_group_walk_available(self):
+        """
+        计算调度分组间的路网可通行性, 不同分组间路网不可通行
+        :return:
+            group_walk_available: 调度分组路网可通行性矩阵(dump_num, excavator_num)
+        """
+        group_walk_available = np.zeros((get_value("dynamic_dump_num"), get_value("dynamic_excavator_num")))
+
+        for dump_id in get_value("dynamic_dump_set"):
+            for excavator_id in get_value("dynamic_excavator_set"):
+                item = session_mysql.query(Dispatch).filter_by(dump_id=dump_id, exactor_id=excavator_id, isauto=1,
+                                                               isdeleted=0).first()
+                if item is not None:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_index = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    group_walk_available[dump_index][excavator_index] = 1
+
+        return group_walk_available
+
+    def update_material_walk_available(self):
+        """
+        更新物料兼容性下路网可通行性
+        :return:
+            walk_available: 物料兼容路网可通行性矩阵(dump_num, excavator_num)
+        """
+        dynamic_dump_num = get_value("dynamic_dump_num")
+        dynamic_excavator_num = get_value("dynamic_excavator_num")
+        dynamic_dump_set = get_value("dynamic_dump_set")
+        dynamic_excavator_set = get_value("dynamic_excavator_set")
+        walk_available = np.ones((dynamic_dump_num, dynamic_excavator_num))
+
+        try:
+
+            for dump_id in dynamic_dump_set:
+                for excavator_id in dynamic_excavator_set:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_inedx = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    # 两设备处理物料不同, 相关路网不可通行
+                    if self.excavator.excavator_material[excavator_id] != self.dump.dump_material[dump_id]:
+                        walk_available[dump_index][excavator_inedx] = 0
+        except Exception as es:
+            self.logger.info(es)
+            self.logger.info("error-12")
+
+        return walk_available
+
+    def update_map_walk_available(self):
+        """
+        更新物理路网可通行性
+        :return:
+            walk_available: 物理路网可通行性矩阵(dump_num, excavator_num)
+        """
+        dynamic_dump_num = get_value("dynamic_dump_num")
+        dynamic_excavator_num = get_value("dynamic_excavator_num")
+        walk_available = np.ones((dynamic_dump_num, dynamic_excavator_num))
+
+        walk_manage.period_walk_para_update()
+
+        for dump_index in range(dynamic_dump_num):
+            for excavator_index in range(dynamic_excavator_num):
+                if walk_manage.distance_to_excavator[dump_index][excavator_index] > M / 2:
+                    walk_available[dump_index][excavator_index] = 0
+
+        return walk_available

dispatch_with_topo/path_plan/priority_control_2.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/9/3 14:44
+# @Author : Opfer
+# @Site :
+# @File : priority_control.py
+# @Software: PyCharm
+
+from equipment.truck import *
+from equipment.dump import *
+from equipment.excavator import *
+from para_config import *
+from path_plan.topo_graph import *
+
+class PriorityController():
+
+    def __init__(self, dump, excavator, truck):
+        # 设备类
+        self.dump = dump
+        self.excavator = excavator
+        self.truck = truck
+
+        # 获取日志器
+        self.logger = get_logger("zxt.prio")
+        
+
+    def weighted_walk_calc(self):
+        """
+        计算运输路线权重, 权重影响因素：设备优先级, 物料优先级,
+        :return:
+            walk_weight: 卸载-装载区 路网权重
+            park_walk_weight: 备停区-装载区 路网权重
+        """
+        dynamic_dump_num = get_value("dynamic_dump_num")
+        dynamic_excavator_num = get_value("dynamic_excavator_num")
+        dynamic_dump_set = get_value("dynamic_dump_set")
+        dynamic_excavator_set = get_value("dynamic_excavator_set")
+        walk_to_excavator_weight = np.ones((dynamic_dump_num, dynamic_excavator_num))
+        walk_to_dump_weight = np.ones((dynamic_excavator_num, dynamic_dump_num))
+        excavator_priority = self.excavator.excavator_priority_coefficient
+        excavator_material_priority = self.excavator.excavator_material_priority
+        dump_priority = self.dump.dump_priority_coefficient
+        dump_material_priority = np.ones(dynamic_dump_num)
+        park_walk_weight = np.ones((park_num, dynamic_excavator_num))
+
+        rule6 = session_mysql.query(DispatchRule).filter_by(id=6).first()
+
+        if not rule6.disabled:
+            for dump_id in dynamic_dump_set:
+                for excavator_id in dynamic_excavator_set:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_inedx = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    walk_to_excavator_weight[dump_index][excavator_inedx] += excavator_priority[excavator_inedx]
+                    walk_to_dump_weight[excavator_inedx][dump_index] += dump_priority[dump_index]
+            park_walk_weight = park_walk_weight * self.excavator.excavator_priority_coefficient
+
+        rule7 = session_mysql.query(DispatchRule).filter_by(id=7).first()
+
+        if not rule7.disabled:
+            for dump_id in dynamic_dump_set:
+                for excavator_id in dynamic_excavator_set:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_inedx = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    walk_to_excavator_weight[dump_index][excavator_inedx] += excavator_material_priority[excavator_inedx]
+                    walk_to_dump_weight[excavator_inedx][dump_index] += dump_material_priority[dump_index]
+            park_walk_weight = park_walk_weight * self.excavator.excavator_material_priority
+
+        try:
+            walk_to_excavator_weight = walk_to_excavator_weight - (walk_to_excavator_weight.min() - 1)
+
+            walk_to_dump_weight = walk_to_dump_weight - (walk_to_dump_weight.min() - 1)
+
+            park_walk_weight = park_walk_weight - (park_walk_weight.min() - 1)
+        except Exception as es:
+            self.logger.errro(es)
+            self.logger.error("优先级归一化异常")
+
+        return walk_to_excavator_weight, walk_to_dump_weight, park_walk_weight
+
+    def walk_available_calc(self):
+        """
+        计算路网可通行性(物料, 地图, 分组三者综合)
+        :return:
+            walk_available: 路网可通行性(dump_num, excavator_num)
+        """
+
+        map_walk_available = self.update_map_walk_available()
+        group_walk_available = self.update_group_walk_available()
+        material_walk_available = self.update_material_walk_available()
+
+        walk_available = map_walk_available * group_walk_available * material_walk_available
+
+        return walk_available
+
+    def update_group_walk_available(self):
+        """
+        计算调度分组间的路网可通行性, 不同分组间路网不可通行
+        :return:
+            group_walk_available: 调度分组路网可通行性矩阵(dump_num, excavator_num)
+        """
+        group_walk_available = np.zeros((get_value("dynamic_dump_num"), get_value("dynamic_excavator_num")))
+
+        for dump_id in get_value("dynamic_dump_set"):
+            for excavator_id in get_value("dynamic_excavator_set"):
+                item = session_mysql.query(Dispatch).filter_by(dump_id=dump_id, exactor_id=excavator_id, isauto=1,
+                                                               isdeleted=0).first()
+                if item is not None:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_index = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    group_walk_available[dump_index][excavator_index] = 1
+
+        return group_walk_available
+
+    def update_material_walk_available(self):
+        """
+        更新物料兼容性下路网可通行性
+        :return:
+            walk_available: 物料兼容路网可通行性矩阵(dump_num, excavator_num)
+        """
+        dynamic_dump_num = get_value("dynamic_dump_num")
+        dynamic_excavator_num = get_value("dynamic_excavator_num")
+        dynamic_dump_set = get_value("dynamic_dump_set")
+        dynamic_excavator_set = get_value("dynamic_excavator_set")
+        walk_available = np.ones((dynamic_dump_num, dynamic_excavator_num))
+
+        try:
+
+            for dump_id in dynamic_dump_set:
+                for excavator_id in dynamic_excavator_set:
+                    dump_index = self.dump.dump_uuid_to_index_dict[dump_id]
+                    excavator_inedx = self.excavator.excavator_uuid_to_index_dict[excavator_id]
+                    # 两设备处理物料不同, 相关路网不可通行
+                    if self.excavator.excavator_material[excavator_id] != self.dump.dump_material[dump_id]:
+                        walk_available[dump_index][excavator_inedx] = 0
+        except Exception as es:
+            self.logger.info(es)
+            self.logger.info("error-12")
+
+        return walk_available
+
+    def update_map_walk_available(self):
+        """
+        更新物理路网可通行性
+        :return:
+            walk_available: 物理路网可通行性矩阵(dump_num, excavator_num)
+        """
+        dynamic_dump_num = get_value("dynamic_dump_num")
+        dynamic_excavator_num = get_value("dynamic_excavator_num")
+        walk_available = np.ones((dynamic_dump_num, dynamic_excavator_num))
+
+        walk_manage.period_walk_para_update()
+
+        for dump_index in range(dynamic_dump_num):
+            for excavator_index in range(dynamic_excavator_num):
+                if walk_manage.distance_to_excavator[dump_index][excavator_index] > M / 2:
+                    walk_available[dump_index][excavator_index] = 0
+
+        return walk_available

dispatch_with_topo/path_plan/test4.py

+from topo_graph import *
+import networkx as nx
+import matplotlib.pyplot as plt
+
+#
+# topo = Topo()
+# topo.generate_topo_graph()
+# load_G = topo.get_load_G()
+# pos = nx.shell_layout(load_G)
+# nx.draw(load_G, pos, with_labels=True, node_color='red', edge_color='blue', font_size=18, width=5, node_size=600,
+#         alpha=0.5)
+# plt.show()

dispatch_with_topo/realtime_dispatch.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/7/21 16:45
+# @Author : Opfer
+# @Site :
+# @File : realtime_dispatch.py
+# @Software: PyCharm
+
+
+# 实时调度模块
+
+from traffic_flow.traffic_flow_planner import *
+from para_config import *
+from equipment.truck import TruckInfo
+from equipment.excavator import ExcavatorInfo
+from equipment.dump import DumpInfo
+import sched
+import time
+from path_plan.topo_graph import *
+from dispatcher import Dispatcher, PreSchedule
+
+
+def process(dispatcher):
+
+    # try:
+        # 更新周期参数
+    logger.info("#####################################周期更新开始#####################################")
+
+    period_para_update()
+    if get_value("dynamic_dump_num") * get_value("dynamic_excavator_num") == 0:
+        raise Exception("无动态派车计划可用")
+        return
+    if get_value("dynamic_truck_num") == 0:
+        raise Exception("无动态派车可用矿卡")
+        return
+
+    # 清空数据库缓存
+    session_mysql.commit()
+    session_mysql.flush()
+
+    # 清空数据库缓存
+    session_postgre.commit()
+    session_postgre.flush()
+
+    # 周期更新
+    dispatcher.dispatcher_period_update(topo)
+
+    # try:
+
+    # 调度计算
+    dispatcher.schedule_construct()
+
+    # except Exception as es:
+    #     logger.error("更新不及时")
+    #     logger.error(es)
+
+    logger.info("#####################################周期更新结束#####################################")
+
+    # except Exception as es:
+    #     logger.error("最外层异常捕获")
+    #     logger.error(es)
+
+
+def perform(inc, dispatcher):
+    """
+    控制程序循环执行
+    :param inc: (int) 循环周期, 单位, 秒
+    :param dispatcher:  (Dispatch Class) 矿卡调度类对象
+    :return: None
+    """
+    scheduler.enter(inc, 0, perform, (inc, dispatcher))
+    process(dispatcher)
+
+
+def main(inc, dispatcher):
+    """
+    程序循环入口函数
+    :param inc:  (int) 循环周期, 单位, 秒
+    :param dispatcher:  (Dispatch Class) 矿卡调度类对象
+    :return: None
+    """
+    # topo.generate_topo_graph()
+    scheduler.enter(0, 0, perform, (inc, dispatcher))
+    scheduler.run()
+
+
+if __name__ == "__main__":
+
+    # 初始化日志
+    set_log()
+    # 获取日志器
+    logger = get_logger("zxt.main")
+
+    # 全局参数更新
+    period_para_update()
+
+    # 实例化设备对象
+    dump = DumpInfo()
+    excavator = ExcavatorInfo()
+    truck = TruckInfo(dump, excavator)
+
+    # 实例化拓扑图对象，生成拓扑图
+    # print('开始')
+    topo = Topo()
+    topo.generate_topo_graph()
+    logger.info('拓扑图已生成')
+    # print(topo.get_load_G().edges(data=True))
+    # print(topo.get_unload_G().edges(data=True))
+
+    # 实例化程序调度器
+    scheduler = sched.scheduler(time.time, time.sleep)
+
+    # 实例化调度预测器
+    pre_sch = PreSchedule(truck, excavator, dump)
+
+    # 实例化矿卡调度器
+    dispatcher = Dispatcher(dump, excavator, truck, pre_sch, topo)
+
+    logger.info(" ")
+    logger.info("调度系统启动")
+
+    main(10, dispatcher)

dispatch_with_topo/settings.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/7/23 11:25
+# @Author : Opfer
+# @Site :
+# @File : settings.py
+# @Software: PyCharm
+
+
+# 数据库设备, redis设置, 日志设置
+from tables import *
+# from urllib.parse import quote
+# import logging.handlers
+# import numpy as np
+# import os
+# from redis import StrictRedis, ConnectionPool
+# import redis
+# from datetime import datetime, timedelta
+# import copy
+# import json
+
+# json_file = "config.json"
+#
+# with open(json_file) as f:
+#     para_config = json.load(f)["para"]
+#
+# with open(json_file) as f:
+#     mysql_config = json.load(f)["mysql"]
+#
+# with open(json_file) as f:
+#     postgre_config = json.load(f)["postgresql"]
+#
+# with open(json_file) as f:
+#     redis_config = json.load(f)["redis"]
+
+# 全局参数
+########################################################################################################################
+# 空载矿卡速度，单位（km/h）
+empty_speed = para_config["empty_speed"]
+
+# 重载矿卡速度，单位（km/h）
+heavy_speed = para_config["heavy_speed"]
+
+# 卸载设备目标卸载量
+dump_target_mass = para_config["dump_target_mass"]
+
+# 挖机目标装载量
+excavator_target_mass = para_config["excavator_target_mass"]
+
+
+# def set_log():
+#
+#     # 创建日志
+#     ########################################################################################################################
+#     # 日志存储地址
+#     log_path = para_config["log_path"]
+#
+#     # 创建日志目录
+#
+#     if not os.path.exists(log_path):
+#         os.mkdir(log_path)
+#     # logging初始化工作
+#     logging.basicConfig()
+#
+#     logger = logging.getLogger("zxt")
+#     logger.setLevel(logging.INFO)
+#
+#
+#     # timefilehandler = logging.handlers.TimedRotatingFileHandler(log_path + "/dispatch.log", when='M', interval=1, backupCount=60)
+#     filehandler = logging.handlers.RotatingFileHandler(log_path + "/dispatch.log", maxBytes=3*1024*1024, backupCount=10)
+#     # filehandler = logging.handlers.RotatingFileHandler("./Logs/dispatch.log", maxBytes=3 * 1024 * 1024, backupCount=10)
+#     # 设置后缀名称，跟strftime的格式一样
+#     filehandler.suffix = "%Y-%m-%d_%H-%M.log"
+#
+#     formatter = logging.Formatter("%(asctime)s - %(name)s: %(levelname)s %(filename)s %(message)s")
+#     filehandler.setFormatter(formatter)
+#     logger.addHandler(filehandler)
+#
+#
+# def get_logger(module_name):
+#     logger = logging.getLogger(module_name)
+#     return logger
+
+
+# 连接reids
+########################################################################################################################
+# redis 5 存储设备状态
+pool5 = ConnectionPool(host=redis_config["host"], db=5, port=6379, password=redis_config["password"])
+
+redis5 = StrictRedis(connection_pool=pool5)
+
+# redis 2 存储派车计划
+pool2 = ConnectionPool(host=redis_config["host"], db=2, port=6379, password=redis_config["password"])
+
+redis2 = StrictRedis(connection_pool=pool2)
+
+# 数据库连接设置
+########################################################################################################################
+# 创建对象的基类:
+Base = declarative_base()
+
+sql_str = str("mysql+mysqlconnector://" + mysql_config["user"] + ":%s@" + mysql_config["host"] + \
+              ":" + mysql_config["port"] + "/" + mysql_config["database"])
+
+postgre_str = str("postgresql://" + postgre_config["user"] + ":%s@" + postgre_config["host"] + \
+                  ":" + postgre_config["port"] + "/" + postgre_config["database"])
+
+try:
+    engine_mysql = create_engine(
+        # "mysql+mysqlconnector://root:%s@192.168.28.111:3306/waytous"
+        # % quote("Huituo@123")
+
+        # "mysql+mysqlconnector://" + mysql_config["user"] + ":" + mysql_config["password"] + "@" + mysql_config[
+        # "host"] + ":" + mysql_config["port"] + "/" + mysql_config["database"]
+
+        sql_str % quote(mysql_config["password"])
+    )
+
+    engine_postgre = create_engine(
+        # "postgresql://postgres:%s@192.168.28.111:5432/shenbao_2021520"
+        # % quote("Huituo@123")
+
+        # "postgresql://" + postgre_config["user"] + ":" + postgre_config["password"] + "@" + postgre_config[
+        #     "host"] + ":" + postgre_config["port"] + "/" + postgre_config["database"]
+
+        postgre_str % quote(postgre_config["password"])
+    )
+
+    # 创建DBsession_mysql类型:
+    DBsession_mysql = sessionmaker(bind=engine_mysql)
+
+    DBsession_mysql = scoped_session(DBsession_mysql)
+
+    DBsession_postgre = sessionmaker(bind=engine_postgre)
+
+    DBsession_postgre = scoped_session(DBsession_postgre)
+
+    # 创建session_mysql对象:
+    session_mysql = DBsession_mysql()
+
+    session_mysql.expire_on_commit = False
+
+    session_postgre = DBsession_postgre()
+
+    session_postgre.expire_on_commit = False
+except Exception as es:
+    logger.error("数据库连接失败")
+    logger.error(es)
+
+
+def str_to_byte(item):
+    return bytes(item, encoding='utf8')
+
+def byte_to_str(item):
+    return str(item, encoding='utf-8')

dispatch_with_topo/test.py

+import networkx as nx
+import numpy as np
+import matplotlib.pyplot as plt
+# G = nx.Graph(name= 'dispatch_topo')
+# # print(G.graph)
+# point = np.array([1,2,3,'a','b','c','m','n'])
+# for i in point:
+#     G.add_node(i)
+# # print(G.graph)
+# G.add_edge(1,'m',weight = 100)
+# G.add_edge(2,'m',weight = 80)
+# G.add_edge('a','m', weight = 120)
+# G.add_edge('n','m',weight = 200)
+# G.add_edge('b','m',weight = 200)
+# G.add_edge('c','m',weight = 210)
+# print(G.edges(data = True))
+# nx.draw(G,node_color = 'red')
+# plt.show()
+
+import matplotlib.pyplot as plt
+import networkx as nx
+import numpy as np
+
+G = nx.Graph()
+
+# G.add_edge('a', 'b', weight=0.6)
+# G.add_edge('a', 'c', weight=0.2)
+# G.add_edge('c', 'd', weight=0.1)
+# G.add_edge('c', 'e', weight=0.7)
+# G.add_edge('c', 'f', weight=0.9)
+# G.add_edge('a', 'd', weight=0.3)
+G.add_edge(1,'m',length = 100)
+G.add_edge(2,'m',length = 80)
+G.add_edge('a','m', length = 120)
+G.add_edge('n','m',length = 10)
+G.add_edge('b','n',length = 100)
+G.add_edge('h','n',length = 10)
+G.add_edge('b','h',length = 80)
+G.add_edge('c','n',length = 210)
+
+# elarge = [(u, v) for (u, v, d) in G.edges(data=True) if d['weight'] > 0.5]
+# esmall = [(u, v) for (u, v, d) in G.edges(data=True) if d['weight'] <= 0.5]
+#
+# pos = nx.spring_layout(G)  # positions for all nodes
+#
+# # nodes
+# nx.draw_networkx_nodes(G, pos, node_size=700)
+#
+# # edges
+# nx.draw_networkx_edges(G, pos, edgelist=elarge,
+#                        width=6)
+# nx.draw_networkx_edges(G, pos, edgelist=esmall,
+#                        width=6, alpha=0.5, edge_color='b', style='dashed')
+#
+# # labels
+# nx.draw_networkx_labels(G, pos, font_size=20, font_family='sans-serif')
+# plt.axis('off')
+# plt.savefig("weight.jpg")
+pos=nx.shell_layout(G)
+nx.draw(G,pos,with_labels=True, node_color='red', edge_color='blue', font_size = 18,width = 5,node_size=600, alpha=0.5 )
+# pylab.title('Self_Define Net',fontsize=15)
+plt.show()
+
+# print('dijkstra方法寻找最短路径：')
+# path = nx.dijkstra_path(G, source='a', target='b', weight='length')
+# print('节点a到b的路径：', path)
+G_node = np.array(G.edges)
+GG = G.number_of_edges()
+print (G_node[0][1], type(G_node[0][1]))
+print(GG,type(GG))
+
+# G1 = nx.Graph()
+# print(np.array(G1.nodes))
+
+
+
+# G2 = nx.Graph()  # 创建：空的 无向图
+# G2.add_weighted_edges_from([(1,2,2),(1,3,8),(1,4,1),
+#                             (2,3,6),(2,5,1),
+#                             (3,4,7),(3,5,5),(3,6,1),(3,7,2),
+#                             (4,7,9),
+#                             (5,6,3),(5,8,2),(5,9,9),
+#                             (6,7,4),(6,9,6),
+#                             (7,9,3),(7,10,1),
+#                             (8,9,7),(8,11,9),
+#                             (9,10,1),(9,11,2),
+#                             (10,11,4)])  # 向图中添加多条赋权边: (node1,node2,weight)
+#
+

dispatch_with_topo/test3.py

+from path_plan.topo_graph import *
+import networkx as nx
+import matplotlib.pyplot as plt
+
+
+# from traffic_flow.traffic_flow_planner import *
+
+# from path_plan.path_planner_2 import *
+# from dispatcher import Dispatcher, PreSchedule
+topo = Topo()
+topo.generate_topo_graph()
+# path_planner = PathPlanner(topo)
+# a, b = path_planner.path_cost_generate("ef89f721-5134-3ef1-91e2-95b4e5004675", "e5d0ac4e-c134-3ef1-901b-867980c8453e", False)
+# print(a,b)
+load_G = topo.get_load_G()
+unload_G = topo.get_unload_G()
+print(unload_G.edges(data=True))
+print(load_G.edges(data=True))
+# alpha = 1
+# beta = 1
+# source_area = "e44052d4-1134-6602-ea64-f14d05ecfb3f"
+# target_area = "659ca4d5-2134-6602-ed05-1deddfca63f9"
+# unload_source_node = str(session_postgre.query(DiggingWorkArea).filter_by(Id=source_area).first().ExitNodeId)
+# unload_end_node = str(session_postgre.query(DumpArea).filter_by(Id=target_area).first().EntranceNodeId)
+# # _, park_path = nx.single_source_dijkstra(unload_G, source=source_node, target=source_node, weight="real_distance")
+# # path = park_path
+# # for i in range(len(path)-1):
+# #     pair_now = [path[i], path[i+1]]
+# #     # edge_lane = nx.get_edge_attributes(load_G,'lane')
+# #     data = dict(unload_G[path[i]][path[i+1]]['lane'])
+# #     for u,v in data.items():
+# #         data[u] = [v[0],beta*3]
+# #     val = list(data.values())
+# #     unload_G[path[i]][path[i+1]]['locked_distance'] = sum([beta * sum(i[0] for i in val) + alpha * sum(i[-1] for i in val)])
+#
+# unload_cost = nx.dijkstra_path_length(unload_G, source=unload_source_node, target=unload_end_node,
+#                                        weight="locked_distance")
+# print(unload_cost)
+# # print([path[i], path[i+1]], unload_G[path[i]][path[i+1]]['locked_distance'])
+# # for i in range(len(park_path) - 1):
+# #     data = dict(unload_G[park_path[i]][park_path[i + 1]]['lane'])
+# #     for u, v in data.items():
+# #         # u_lane_cost = lane_cost_generate(u)
+# #         data[u] = [v[0], beta *3]
+# #     val = list(data.values())
+# #     # unload_G[park_path[i]][park_path[i + 1]]['locked_distance'] = sum(beta * sum(i[0] for i in val) + alpha * sum(i[-1] for i in val))
+# #     unload_G[park_path[i]][park_path[i + 1]]['locked_distance'] = sum( beta * sum(i[0] for i in val))
+# #     # unload_G[park_path[i]][park_path[i + 1]]['locked_distance'] = sum(beta * sum(i[0] for i in val) + alpha * sum(i[-1] for i in val))
+# #     unload_G[park_path[i]][park_path[i + 1]]['locked_distance'] = sum( beta * sum(i[0] for i in val))
+#
+# # print(load_G.edges(data=True))
+# print(unload_G.edges(data=True))
+# # distance = nx.dijkstra_path_length(load_G, source="81be6a9e-8134-3ef2-141e-4bb045b8d097", target= "1c85bc2c-9134-6281-1265-fd19d0dcbd52", weight="locked_distance")
+# # print(distance)
+# # print(distance,path)
+# # aaa = topo.get_load_source_node("7b9c8e89-7134-63ac-9c44-f183674b090c")
+# # print(aaa)
+# # path,_, _= topo.get_load_target_node_real("7b9c8e89-7134-63ac-9c44-f183674b090c",None)
+# # print(path)
+# # updata_edge = {}
+# # for i in range(len(path)-1):
+# #     pair_now = [path[i], path[i+1]]
+# #     # edge_lane = nx.get_edge_attributes(load_G,'lane')
+# #     data = dict(load_G[path[i]][path[i+1]]['lane'])
+# #     for u,v in data.items():
+# #         data[u] = [v[0],v[0]]
+# #     load_G[path[i]][path[i+1]]['locked_distance'] = sum(i[-1] for i in list(data.values()))
+# #     print([path[i], path[i+1]], load_G[path[i]][path[i+1]]['locked_distance'])
+#
+#
+
+
+
+# unload_G = topo.get_un  data=True))
+pos = nx.shell_layout(load_G)
+nx.draw(load_G, pos, with_labels=True, node_color='red', edge_color='blue', font_size=18, width=5, node_size=600,
+        alpha=0.5)
+plt.show()
+
+pos = nx.shell_layout(unload_G)
+nx.draw(unload_G, pos, with_labels=True, node_color='red', edge_color='blue', font_size=18, width=5, node_size=600,
+        alpha=0.5)
+plt.show()
+# unload_G = topo.get_unload_G()
+# print(unload_G.edges(data=True))
+#
+# edge_arrtibutes = dict(nx.get_edge_attributes(unload_G,'lane'))
+# print(edge_arrtibutes)
+# print(type(edge_arrtibutes))
+# print(edge_arrtibutes.values())
+# print(type(edge_arrtibutes.values()))
+# pos = nx.shell_layout(load_G)
+# nx.draw(load_G, pos, with_labels=True, node_color='red', edge_color='blue', font_size=18, width=5, node_size=600,
+#         alpha=0.5)
+# plt.show()
+
+# a = "-rw-r--r-- 1  cs9315  22439  Feb 18 2021"
+# print(len(a))
+
+# end= time.process_time()
+# print('Running time: %s Seconds'%(end-start))

dispatch_with_topo/test4.py

+import copy
+import numpy as np
+
+# # Question 1 optimisation problem
+A = np.array([[1., 2., 1., -1.],
+             [-1., 1., 0., 2.],
+             [0., -1., -2., 1.]])
+b = np.array([[3.], [2.], [-2.]])
+x = np.array([[1.], [1.], [1.], [1.]])
+k = 0
+alpha = 0.1
+gamma = 0.2
+
+def gradient_step_1(A, b, x, gamma):
+    updated_x = np.array(A.T.dot((A.dot(x) - b)) + gamma*x)
+    return np.round(updated_x,4)
+
+print_form = []
+
+def edit_form(print_form,x):
+    print_form.pop(0)
+    x_k = copy.copy(x)
+    print_form.append([k, x_k])
+
+while True:
+    if k > 0 and k <= 5:
+        x_k= copy.copy(x)
+        print_form.append((k,x_k))
+    if k == 6:
+        for item in print_form:
+            print(f"k = {item[0]}, x({item[0]}) = {item[1]}")
+    if k > 6:
+        edit_form(print_form,x)
+    k += 1
+    x -= alpha*gradient_step_1(A, b, x, gamma)
+
+    if np.linalg.norm(gradient_step_1(A, b, x, gamma), ord=2)<0.001:
+        edit_form(print_form, x)
+        k += 1
+        x -= alpha * gradient_step_1(A, b, x, gamma)
+        edit_form(print_form, x)
+        for item in print_form:
+            print(f"k = {item[0]}, x({item[0]}) = {item[1]}")
+        break
+
+
+
+# x = np.array([[1.123], [1.123], [1.123], [1.123]])
+# x =np.array([[-4.59627504],
+#  [8.95686683],
+#  [-9.76586351],
+#  [ 8.87335576]])
+# print(np.around(x,2))
+# for i in range(10):
+#     x = A.T.dot((A.dot(x) - b)) + gamma*x
+#     print(np.round(x,4))

dispatch_with_topo/traffic_flow/__init__.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/8/31 15:17
+# @Author : Opfer
+# @Site :
+# @File : __init__.py    
+# @Software: PyCharm
\ No newline at end of file

dispatcher.py

@@ -157,19 +157,21 @@ class Dispatcher(WalkManage):
 
     """
 
-    def __init__(self, dump, excavator, truck, predict_schedule):
+    def __init__(self, dump, excavator, truck, predict_schedule,topo):
 
         # 调度开始时间
         self.start_time = datetime.now()
 
         # 路径规划对象
-        self.path = PathPlanner()
+        self.path = PathPlanner(topo)
+        # self.path = PathPlanner()
+        # self.topo = Topo()
 
         # 车流对象
         self.traffic_flow = Traffic_flow(dump, excavator, truck)
 
         # 分组控制对象
-        self.group = Group(dump, excavator, truck, self.traffic_flow)
+        self.group = Group(dump, excavator, truck, self.traffic_flow, topo)
 
         # 行程预测对象
         self.pre_sch = predict_schedule
@@ -185,7 +187,7 @@ class Dispatcher(WalkManage):
         # 获取日志器
         self.logger = get_logger("zxt.dispatcher")
 
-    def dispatcher_period_update(self):
+    def dispatcher_period_update(self,topo):
 
         # 装载映射参数及
         self.period_map_para_load()
@@ -210,7 +212,7 @@ class Dispatcher(WalkManage):
         self.cost_to_excavator, self.cost_to_dump, self.cost_park_to_excavator = self.path.walk_cost_cal()
 
         # 调度分组更新
-        self.group.period_update()
+        self.group.period_update(topo)
 
     def truck_schedule(self, truck_id):
         # 规则读取

equipment/dump.py

@@ -42,6 +42,7 @@ class DumpInfo(WalkManage):
         # 参数初始化
         self.para_period_update()
 
+
     def get_unloading_time(self):
         return self.unloading_time
 

equipment/excavator.py

@@ -57,7 +57,8 @@ class ExcavatorInfo(WalkManage):
 
     # 更新挖机装载时间
     def update_excavator_loadtime(self):
-
+        load_area_id = {}
+        dump_area_id = {}
         self.loading_time = np.zeros(self.dynamic_excavator_num)
 
         for excavator_id in self.excavator_uuid_to_index_dict.keys():

group_control/group_control.py

@@ -8,11 +8,12 @@
 
 from settings import *
 from para_config import *
-from path_plan.path_plannner import PathPlanner
+from path_plan.path_planner_2 import *
+# from path_plan.path_plannner import *
 from traffic_flow.traffic_flow_planner import traffic_flow_plan
 
 class Group(WalkManage):
-    def __init__(self, dump, excavator, truck, traffic_flow):
+    def __init__(self, dump, excavator, truck, traffic_flow, topo):
         self.dump = dump
         self.excavator = excavator
         self.truck = truck
@@ -40,7 +41,9 @@ class Group(WalkManage):
         self.group_excavator_material_bind_modify = {}
         self.group_dump_material_bind_modify = {}
 
-        self.path = PathPlanner()
+        self.path = PathPlanner(topo)
+        # self.path = PathPlanner()
+        # self.topo = Topo()
 
     def update_dispatch_truck_group(self):
         # 更新矿卡-调度分组隶属关系
@@ -94,15 +97,11 @@ class Group(WalkManage):
         dynamic_truck_num = get_value("dynamic_truck_num")
 
         self.goto_dump_truck_num = np.zeros((dynamic_excavator_num, dynamic_dump_num))
-        self.actual_goto_dump_traffic_flow = np.zeros(
-            (dynamic_excavator_num, dynamic_dump_num)
-        )
-        self.goto_excavator_truck_num = np.zeros(
-            (dynamic_dump_num, dynamic_excavator_num)
-        )
-        self.actual_goto_excavator_traffic_flow = np.zeros(
-            (dynamic_dump_num, dynamic_excavator_num)
-        )
+        self.actual_goto_dump_traffic_flow = np.zeros((dynamic_excavator_num, dynamic_dump_num))
+
+        self.goto_excavator_truck_num = np.zeros((dynamic_dump_num, dynamic_excavator_num))
+        self.actual_goto_excavator_traffic_flow = np.zeros((dynamic_dump_num, dynamic_excavator_num))
+
 
         # try:
         logger.info("dynamic_truck_num")
@@ -150,7 +149,7 @@ class Group(WalkManage):
                 )
         )
 
-    def update_group_truck_flow(self):
+    def update_group_truck_flow(self, topo):
 
         # 更新调度分组内车实时/最佳车流
 
@@ -159,7 +158,7 @@ class Group(WalkManage):
         actual_goto_excavator_traffic_flow, actual_goto_dump_traffic_flow = \
             self.traffic_flow.actual_goto_excavator_traffic_flow, self.traffic_flow.actual_goto_dump_traffic_flow
 
-        opt_goto_dump_traffic_flow, opt_goto_excavator_traffic_flow = traffic_flow_plan(self.truck)
+        opt_goto_dump_traffic_flow, opt_goto_excavator_traffic_flow = traffic_flow_plan(self.truck, topo)
 
         try:
 
@@ -174,6 +173,7 @@ class Group(WalkManage):
                 print(self.device_group)
                 local_opt_goto_dump_traffic_flow = np.zeros((len(excavator_group), len(dump_group)))
                 local_opt_goto_excavator_traffic_flow = np.zeros((len(dump_group), len(excavator_group)))
+
                 local_actual_goto_dump_traffic_flow = np.zeros((len(excavator_group), len(dump_group)))
                 local_actual_goto_excavator_traffic_flow = np.zeros((len(dump_group), len(excavator_group)))
                 for excavator_id in excavator_group:
@@ -384,14 +384,14 @@ class Group(WalkManage):
 
         return group_allow_flow_to_dump
 
-    def period_update(self):
+    def period_update(self,topo):
         self.reset()
         self.update_dispatch_truck_group()
         self.update_group_set()
         self.update_device_group()
         self.update_group_device_map()
         self.update_group_walk_cost()
-        self.update_group_truck_flow()
+        self.update_group_truck_flow(topo)
         self.update_modify()
 
     def get_diaptch_truck_group(self):