周期读取路网数据更新

core/dispatcher.py

@@ -48,7 +48,8 @@ class Dispatcher:
         self.truck.truck_para_period_update(self.dump, self.excavator)
         self.truck.state_period_update()
         if self.redispatch_active:
-            self.topo = graph_construct()
+            self.topo = Topo()
+            self.topo.generate_topo_graph()
         else:
             self.topo = None
 

core/group.py

@@ -762,7 +762,7 @@ class GroupDispatcher:
         truck_name = truck_uuid_to_name_dict[truck_id]
 
         # 获取车辆当前派车计划
-        if truck_task in [0, 1, 5]:
+        if truck_task in [0, 1, 2]:
 
             excavator_index = int(truck_trip[1])
             dump_index = int(truck_trip[0])
@@ -1214,6 +1214,7 @@ class GoThroughDispatcher:
     def __init__(self, group: Group):
         self.logger = get_logger("zxt.GoThroughDispatcher")
         self.group = group
+        self.gothrough_check_lanes = []
 
     def update_lanes_info(self):
 
@@ -1397,75 +1398,6 @@ class GoThroughDispatcher:
             self.logger.error(es)
             return
 
-        # '''
-        # 2. 寻找车辆穿越装载区自动判定区域
-        # '''
-        # try:
-        #     further_area_backtrack_node_id = further_entrance_node_id
-        #     further_area_backtrack_lanes = []
-        #     for truck_id in range(5):
-        #         # 查询回溯路段对象
-        #         item = session_postgre.query(Lane).filter_by(EndNodeId=further_area_backtrack_node_id).first()
-        #         if item is None:
-        #             break
-        #         # 将路段Id加入回溯列表
-        #         further_area_backtrack_lanes.append(str(item.Id))
-        #         # 更新当前回溯节点
-        #         further_area_backtrack_node_id = item.StartNodeId
-        #
-        # except Exception as es:
-        #     self.logger.error("回溯近端装载路段异常")
-        #     self.logger.error(es)
-        #
-        # try:
-        #     lowest_common_ancestor = None
-        #     closer_area_backtrack_node_id = closer_entrance_node_id
-        #     closer_area_backtrack_lanes = []
-        #     for truck_id in range(5):
-        #         # 查询回溯路段对象
-        #         item = session_postgre.query(Lane).filter_by(EndNodeId=closer_area_backtrack_node_id).first()
-        #         if item is None:
-        #             break
-        #         # 若查询到共同祖先
-        #         if str(item.Id) in further_area_backtrack_lanes:
-        #             lowest_common_ancestor = item
-        #             break
-        #         # 将路段Id加入回溯列表
-        #         closer_area_backtrack_lanes.append(str(item.Id))
-        #         # 更新当前回溯节点
-        #         closer_area_backtrack_node_id = item.StartNodeId
-        #
-        #     # 交叉口路段
-        #     cross_lane = str(lowest_common_ancestor.Id)
-        #
-        # except Exception as es:
-        #     self.logger.error("回溯远端装载路段异常")
-        #     self.logger.error(es)
-        #     return
-        #
-        #
-        # self.logger.info("cross_lane")
-        # self.logger.info(cross_lane)
-        #
-        # # 截取远端入场点到交叉口的路段
-        # further_area_backtrack_lanes = further_area_backtrack_lanes[0:further_area_backtrack_lanes.index(cross_lane)]
-        #
-        # # 穿越装载区检查路段
-        # gothrough_check_lanes = [cross_lane]
-        #
-        # try:
-        #     # 多回溯一个路段
-        #     if lowest_common_ancestor.Length < 200:
-        #         item = session_postgre.query(Lane).filter_by(EndNodeId=lowest_common_ancestor.StartNodeId).first()
-        #         gothrough_check_lanes.append(item.Id)
-        #
-        #     self.logger.info("gothrough_check_lanes")
-        #     self.logger.info(gothrough_check_lanes)
-        #
-        # except Exception as es:
-        #     self.logger.error("穿越装载区交叉口判断异常")
-        #     self.logger.error(es)
-
         '''
         3. 调度判断逻辑
         '''