路径修改

.idea/.gitignore

-# Default ignored files
-/workspace.xml
\ No newline at end of file

.idea/deployment.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="PublishConfigData">
-    <serverData>
-      <paths name="root@172.16.0.103:22">
-        <serverdata>
-          <mappings>
-            <mapping local="$PROJECT_DIR$" web="/" />
-          </mappings>
-        </serverdata>
-      </paths>
-    </serverData>
-  </component>
-</project>
\ No newline at end of file

.idea/inspectionProfiles/profiles_settings.xml

-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>
\ No newline at end of file

.idea/integrated-scheduling-v3.iml

-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$">
-      <sourceFolder url="file://$MODULE_DIR$" isTestSource="false" />
-    </content>
-    <orderEntry type="jdk" jdkName="Python 3.7 (waytous)" jdkType="Python SDK" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>
\ No newline at end of file

.idea/misc.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <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" />
-</project>
\ No newline at end of file

.idea/modules.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/integrated-scheduling-v3.iml" filepath="$PROJECT_DIR$/.idea/integrated-scheduling-v3.iml" />
-    </modules>
-  </component>
-</project>
\ No newline at end of file

.idea/vcs.xml

-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
-  </component>
-</project>
\ No newline at end of file

config.json

 {
     "para": {
+<<<<<<< HEAD
         "log_path": "E:\\Pycharm Projects\\Waytous\\",
         "empty_speed": 25,
         "heavy_speed": 22,
+=======
+        "log_path": "/usr/local/fleet-log/dispatch",
+        "empty_speed": 17,
+        "heavy_speed": 17,
+>>>>>>> new
         "dump_target_mass": 5000,
         "excavator_target_mass": 5000
     },

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

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()

settings.py

@@ -47,6 +47,9 @@ dump_target_mass = para_config["dump_target_mass"]
 # 挖机目标装载量
 excavator_target_mass = para_config["excavator_target_mass"]
 
+logger = logging.getLogger("zxt")
+logger.setLevel(logging.INFO)
+
 
 def set_log():
 
@@ -62,9 +65,6 @@ def set_log():
     # 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)