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integrated-scheduling-v3
Commit 4cca50a5 authored by 张晓彤's avatar 张晓彤
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二次调度问题修复

parent 7856246e
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Showing with 391 additions and 262 deletions
alg/algorithm.py
View file @ 4cca50a5
......@@ -190,7 +190,7 @@ class ExpectedTime(AlgorithmBase):
# 挖机可用时间
excavator_val_time_global = self.pre_sch.get_excavator_avl_time()
excavator_val_time = np.full(len(self.group.excavator), 0)
excavator_val_time = np.full(len(self.group.excavator), 0.0)
for excavator_id, excavator_index in self.group.excavator_uuid_index_dict.items():
excavator_val_time[excavator_index] = excavator_val_time_global[excavator_id]
......@@ -222,7 +222,7 @@ class ExpectedTime(AlgorithmBase):
# self.logger.error(es)
# transport_value = np.zeros(group_dynamic_excavator_num)
if task in [0, 1, 2]:
if task in [1, 2]:
################################################ 矿卡空载 ###############################################
try:
......@@ -276,7 +276,7 @@ class ExpectedTime(AlgorithmBase):
self.logger.error(es)
transport_value = np.zeros(group_dynamic_unload_area_num)
elif task in [3, 4, 5]:
elif task in [4, 5]:
################################################ 矿卡重载 ###############################################
try:
......
core/dispatcher.py
View file @ 4cca50a5
......@@ -89,6 +89,7 @@ class Dispatcher:
self.logger.error(f'分组{group.group_id} 调度异常')
self.logger.info(f'调度分组: {group.group_id} {DispatchInfo.group_name[group.group_id]}')
self.logger.info(f'组内车辆 {group.truck_set}')
self.logger.info("组内挖机")
self.logger.info(group.excavator)
self.logger.info("组内卸点")
......
core/group.py
View file @ 4cca50a5
......@@ -8,11 +8,11 @@
from data.dispatchInfo import *
from bidict import bidict
from alg.algorithm import AlgorithmBase,DistributionRatio
from alg.algorithm import AlgorithmBase, DistributionRatio
import numpy as np
# from settings import get_logger
from data.para_config import get_value
from core.util import POST
from core.util import *
class CurrentTruck:
......@@ -129,7 +129,6 @@ class Group:
self.logger.info(f'group excavator {self.excavator}')
self.logger.info(f'group dump {self.dump}')
def update_group_road_network(self):
"""
update group road network.
......@@ -279,6 +278,13 @@ class Group:
truck_task = self.truck.get_truck_current_task()[i]
truck_info = CurrentTruck(i, self.group_id, truck_trip, truck_task)
self.truck_info_list[i] = truck_info
# truck_task = 0
# if i != "f704aa5e-24d9-4822-b634-ae81ca5ff0be":
# self.truck.get_truck_locate_dict()[i] = "8961f641-c134-8be8-f4eb-95e6e2c374b7"
# self.truck.truck_is_temp[i] = False
# self.truck.truck_current_state[i] = 2
except Exception as es:
self.logger.error("车辆调度信息读取异常")
self.logger.error(es)
......@@ -289,230 +295,11 @@ class Group:
try:
# 全智能模式
if self.group_mode == 1:
# 车辆停止或者车辆位于装载区内, 调度车辆前往卸载区
if truck_task in [-2, 1, 2]:
try:
if i in self.truck.truck_excavator_bind:
next_excavator_id = self.truck.truck_excavator_bind[i]
else:
next_excavator_value = s.solve(truck_info)
# next_excavator_value = s.solve(i, truck_task, truck_trip)
# min_index = next_excavator_list.index(min(next_excavator_list))
min_index = np.argmin(next_excavator_value)
next_excavator_id = self.excavator_uuid_index_dict.inverse[min_index]
if truck_task == -2:
next_unload_area_id = "Park"
else:
dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[-1]]
next_unload_area_id = get_value("dump_uuid_to_unload_area_uuid_dict")[dump_id]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
except Exception as es:
self.logger.error("重载车辆全智能模式-计算异常")
self.logger.error(es)
# 车辆位于卸载区内, 调度车辆前往装载区
elif truck_task in [4, 5]:
try:
next_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[-1]]
next_unload_area_value = s.solve(truck_info)
self.logger.info(f'车辆 {i}')
self.logger.info(f'group distance {self.to_unload_area_distance}')
self.logger.info(f'walk available {self.group_walk_available}')
self.logger.info(self.unload_area_uuid_index_dict)
self.logger.info(self.excavator_uuid_index_dict)
if i in self.truck.truck_dump_bind:
dump_uuid_to_unload_area_uuid_dict = get_value("dump_uuid_to_unload_area_uuid_dict")
next_unload_area_id = dump_uuid_to_unload_area_uuid_dict[self.truck.truck_dump_bind[i]]
else:
tmp = self.group_walk_available[
self.excavator_uuid_index_dict[next_excavator_id], :].flatten()
self.logger.info(f'group_walk_available_pick {tmp}')
self.logger.info(f'next_excavator_id {next_excavator_id}')
self.logger.info(next_unload_area_value)
next_unload_area_value *= self.group_walk_available[
self.excavator_uuid_index_dict[next_excavator_id], :].flatten()
self.logger.info(next_unload_area_value)
min_index = np.argmin(next_unload_area_value)
next_unload_area_id = self.unload_area_uuid_index_dict.inverse[min_index]
# next_excavator_id = self.excavator_uuid_index_dict.inverse[truck_trip[-1]]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
except Exception as es:
self.logger.error("空载车辆全智能模式-计算异常")
self.logger.error(es.__traceback__.tb_lineno)
self.logger.error(es)
truck_dispatch[i] = [None, None]
elif truck_task == 0:
try:
truck_locate = self.truck.get_truck_locate_dict()[i]
except Exception as es:
self.logger.error("车辆位置信息丢失")
self.logger.error(es)
try:
truck_is_temp = self.truck.truck_is_temp[i]
except Exception as es:
truck_is_temp = False
self.logger.error(es)
# 车辆当前位于交叉路口前，且排队等待
self.logger.info(f'车辆位置 {truck_locate}')
self.logger.info(f'车辆状态 {self.truck.truck_current_state[i]}')
self.logger.info(f'车辆临时 {truck_is_temp} {type(truck_is_temp)}')
if (truck_locate in self.topo.cross_bf_lanes) and (self.truck.truck_current_state[i] == 2) and \
(not truck_is_temp) and (i in self.truck.truck_is_temp) and (not self.truck.truck_is_temp[i]):
self.logger.info("触发二次调度")
# 当前绑定卸载区
# if truck_trip[0] == -1:
next_unload_area_id = session_mysql.query(EquipmentPair).filter_by(truck_id=i, isdeleted=0).first().unload_area_id
# else:
# dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[0]]
# next_unload_area_id = get_value("dump_uuid_to_unload_area_uuid_dict")[dump_id]
# 当前绑定装载区
# if truck_trip[-1] == -1:
item = session_mysql.query(EquipmentPair).filter_by(truck_id=i, isdeleted=0).first()
current_excavator_id = item.exactor_id
current_load_area_id = item.load_area_id
self.logger.info(f'truck_id {i}')
self.logger.info(f'current_load_area_id {current_load_area_id}')
# else:
# current_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[-1]]
# current_load_area_id = DispatchInfo.excavator_load_dict[current_excavator_id]
load_area_dict = self.topo.get_load_target_node_real(truck_locate, current_load_area_id, True)
self.logger.info(load_area_dict)
# if truck_locate in self.topo.get_cross_nodes() and self.truck.truck_current_state[i] == 0:
# print(self.topo.get_load_target_node_real("6b417083-83b0-4eec-a8bd-2f85f96cb029", "1010cbfe-b134-3ef1-91bb-d746241c975a"))
min_trip_time = 10000000
best_excavator_id = current_excavator_id
for load_area, value in load_area_dict.items():
# 车辆不需要掉头
if value[-1] == 1 and load_area in DispatchInfo.load_excavator_dict:
excavator_id = DispatchInfo.load_excavator_dict[load_area]
traveling_time = value[0] / self.truck.empty_speed[i]
now = float(
(datetime.now() - self.pre_sch.start_time) / timedelta(hours=0, minutes=1, seconds=0))
reach_time = now + traveling_time
print(self.pre_sch.excavator_avl_time_dict)
trip_time = max(reach_time, self.pre_sch.get_excavator_avl_time()[excavator_id]) - now
if min_trip_time > trip_time:
best_excavator_id = excavator_id
next_excavator_id = best_excavator_id
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
# res = redispatch_request(i, next_excavator_id, next_unload_area_id)
# self.logger.info(res)
self.logger.info(f'二次调度结果 {i}')
self.logger.info(truck_dispatch[i])
elif truck_task == 3:
try:
truck_locate = self.truck.get_truck_locate_dict()[i]
except Exception as es:
self.logger.error("车辆位置信息丢失")
self.logger.error(es)
try:
truck_is_temp = self.truck.truck_is_temp[i]
except Exception as es:
truck_is_temp = False
self.logger.error(es)
self.logger.info(f'车辆位置 {truck_locate}')
self.logger.info(f'车辆状态 {self.truck.truck_current_state[i]}')
self.logger.info(f'车辆临时 {truck_is_temp} {type(truck_is_temp)}')
# 车辆当前位于交叉路口前，且排队等待
if (truck_locate in self.topo.cross_bf_lanes) and (self.truck.truck_current_state[i] == 0) and \
(not truck_is_temp) and (i in self.truck.truck_is_temp) and (not self.truck.truck_is_temp[i]):
# 当前绑定装载区
if truck_trip[0] == -1:
next_excavator_id = session_mysql.query(EquipmentPair).filter_by(truck_id=i, isdeleted=0).first().exactor_id
else:
next_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[0]]
# 当前绑定卸载区
if truck_trip[-1] == -1:
item = session_mysql.query(EquipmentPair).filter_by(truck_id=i, isdeleted=0).first()
current_dump_id = item.dump_id
current_unload_area_id = item.unload_area_id
else:
current_dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[-1]]
current_unload_area_id = DispatchInfo.dump_unload_area_dict[current_dump_id]
unload_area_dict = self.topo.get_unload_target_node_real(truck_locate, current_unload_area_id, True)
min_trip_time = 10000000
best_dump_id = current_dump_id
for unload_area, value in unload_area_dict.items():
# 车辆不需要掉头
if value[-1] == 1 and unload_area in DispatchInfo.unload_area_dump_dict:
dump_id = DispatchInfo.unload_area_dump_dict[unload_area]
traveling_time = value[0] / self.truck.heavy_speed[i]
now = float(
(datetime.now() - self.pre_sch.start_time) / timedelta(hours=0, minutes=1,
seconds=0))
reach_time = now + traveling_time
trip_time = max(reach_time,
self.pre_sch.get_dump_avl_time()[dump_id]) - now
if min_trip_time > trip_time:
best_dump_id = dump_id
next_unload_area_id = DispatchInfo.dump_unload_area_dict[best_dump_id]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
# res = redispatch_request(i, next_excavator_id, next_unload_area_id)
# self.logger.info(res)
self.logger.info(f'二次调度结果 {i}')
self.logger.info(truck_dispatch[i])
self.full_dynamic_mode(i, s, truck_dispatch, truck_info, truck_task, truck_trip)
# 空车智能模式
elif self.group_mode == 2:
if truck_task in [-2, 3, 4, 5]:
try:
if i in self.truck.truck_excavator_bind:
next_excavator_id = self.truck.truck_excavator_bind[i]
else:
next_excavator_value = s.solve(truck_info)
# min_index = next_excavator_list.index(min(next_excavator_list))
min_index = np.argmin(next_excavator_value)
next_excavator_id = self.excavator_uuid_index_dict.inverse[min_index]
if truck_task == -2:
next_unload_area_id = "Park"
else:
# next_unload_area_id = self.unload_area_uuid_index_dict.inverse[truck_trip[-1]]
dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[-1]]
next_unload_area_id = get_value("dump_uuid_to_unload_area_uuid_dict")[dump_id]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
except Exception as es:
self.logger.error("重载车辆空车智能模式-计算异常")
self.logger.error(es)
if truck_task in [0, 1, 2]:
try:
truck_dispatch[i] = DispatchInfo.get_truck_match(i)
except Exception as es:
self.logger.error("空载车辆空车智能模式-计算异常")
self.logger.error(es)
self.semi_dynamic_mode(i, s, truck_dispatch, truck_info, truck_task, truck_trip)
# 定铲派车
elif self.group_mode == 3:
try:
......@@ -524,55 +311,343 @@ class Group:
# 分流配比模式
elif self.group_mode == 4:
next_exactor_id = DispatchInfo.get_truck_exactor(i) # 获取该卡车对应的exactor_id
self.ratio_mode(i, truck_dispatch, truck_task)
except Exception as es:
self.logger.info(es)
# return dispatch plan
return truck_dispatch
self.logger.info(f"分流配比模式，对应的卡车：{i}")
def ratio_mode(self, i, truck_dispatch, truck_task):
next_exactor_id = DispatchInfo.get_truck_exactor(i) # 获取该卡车对应的exactor_id
self.logger.info(f"分流配比模式，对应的卡车：{i}")
self.logger.info(f"矿卡对应的铲车：{next_exactor_id}")
next_unload_area_id = None
if truck_task == -2:
self.logger.info(f"矿卡对应的铲车：{next_exactor_id}")
next_unload_area_id = "Park"
next_unload_area_id = None
# 空载模式下，计算下一次卸载区的位置，按照分流配比的模式进行计算
if truck_task == -2:
elif truck_task in [0, 1, 2]:
next_unload_area_id = "Park"
try:
# 空载模式下，计算下一次卸载区的位置，按照分流配比的模式进行计算
if i in self.truck.truck_dump_bind:
dump_uuid_to_unload_area_uuid_dict = get_value("dump_uuid_to_unload_area_uuid_dict")
next_unload_area_id = dump_uuid_to_unload_area_uuid_dict[self.truck.truck_dump_bind[i]]
else:
elif truck_task in [0, 1, 2]:
next_unload_area_id = DistributionRatio(next_exactor_id, self.truck).ratio_main()
try:
except Exception as es:
if i in self.truck.truck_dump_bind:
dump_uuid_to_unload_area_uuid_dict = get_value("dump_uuid_to_unload_area_uuid_dict")
next_unload_area_id = dump_uuid_to_unload_area_uuid_dict[self.truck.truck_dump_bind[i]]
else:
self.logger.error("分流配比模式-->>空载车辆计算异常")
next_unload_area_id = DistributionRatio(next_exactor_id, self.truck).ratio_main()
self.logger.error(es)
except Exception as es:
# 重载模式下，按照固定派车进行计算
self.logger.error("分流配比模式-->>空载车辆计算异常")
elif truck_task in [3, 4, 5]:
self.logger.error(es)
try:
# 重载模式下，按照固定派车进行计算
next_unload_area_id = DispatchInfo.get_truck_match(i)[1]
elif truck_task in [3, 4, 5]:
except Exception as es:
try:
self.logger.error("分流配比模式-->>重载车辆计算异常")
next_unload_area_id = DispatchInfo.get_truck_match(i)[1]
self.logger.error(es)
truck_dispatch[i] = [next_exactor_id, next_unload_area_id]
except Exception as es:
def semi_dynamic_mode(self, i, s, truck_dispatch, truck_info, truck_task, truck_trip):
if truck_task in [-2, 3, 4, 5]:
try:
self.logger.error("分流配比模式-->>重载车辆计算异常")
if i in self.truck.truck_excavator_bind:
next_excavator_id = self.truck.truck_excavator_bind[i]
else:
next_excavator_value = s.solve(truck_info)
# min_index = next_excavator_list.index(min(next_excavator_list))
min_index = np.argmin(next_excavator_value)
next_excavator_id = self.excavator_uuid_index_dict.inverse[min_index]
if truck_task == -2:
next_unload_area_id = "Park"
else:
# next_unload_area_id = self.unload_area_uuid_index_dict.inverse[truck_trip[-1]]
dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[-1]]
next_unload_area_id = get_value("dump_uuid_to_unload_area_uuid_dict")[dump_id]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
self.logger.error(es)
except Exception as es:
self.logger.error("重载车辆空车智能模式-计算异常")
self.logger.error(es)
if truck_task in [0, 1, 2]:
try:
truck_dispatch[i] = DispatchInfo.get_truck_match(i)
except Exception as es:
self.logger.error("空载车辆空车智能模式-计算异常")
self.logger.error(es)
truck_dispatch[i] = [next_exactor_id, next_unload_area_id]
def full_dynamic_mode(self, i, s, truck_dispatch, truck_info, truck_task, truck_trip):
# 车辆停止或者车辆位于卸载区内, 调度车辆前往装载区
if truck_task in [-2, 4, 5]:
try:
if i in self.truck.truck_excavator_bind:
next_excavator_id = self.truck.truck_excavator_bind[i]
else:
next_excavator_value = s.solve(truck_info)
# next_excavator_value = s.solve(i, truck_task, truck_trip)
# min_index = next_excavator_list.index(min(next_excavator_list))
min_index = np.argmin(next_excavator_value)
next_excavator_id = self.excavator_uuid_index_dict.inverse[min_index]
if truck_task == -2:
next_unload_area_id = "Park"
else:
dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[-1]]
next_unload_area_id = get_value("dump_uuid_to_unload_area_uuid_dict")[dump_id]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
except Exception as es:
self.logger.info(es)
self.logger.error("重载车辆全智能模式-计算异常")
self.logger.error(es)
# 车辆位于装载区内, 调度车辆前往卸载区
elif truck_task in [1, 2]:
try:
next_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[-1]]
next_unload_area_value = s.solve(truck_info)
self.logger.info(f'车辆 {i}')
self.logger.info(f'group distance {self.to_unload_area_distance}')
self.logger.info(f'walk available {self.group_walk_available}')
self.logger.info(self.unload_area_uuid_index_dict)
self.logger.info(self.excavator_uuid_index_dict)
if i in self.truck.truck_dump_bind:
dump_uuid_to_unload_area_uuid_dict = get_value("dump_uuid_to_unload_area_uuid_dict")
next_unload_area_id = dump_uuid_to_unload_area_uuid_dict[self.truck.truck_dump_bind[i]]
else:
tmp = self.group_walk_available[
self.excavator_uuid_index_dict[next_excavator_id], :].flatten()
self.logger.info(f'group_walk_available_pick {tmp}')
self.logger.info(f'next_excavator_id {next_excavator_id}')
self.logger.info(next_unload_area_value)
next_unload_area_value *= self.group_walk_available[
self.excavator_uuid_index_dict[next_excavator_id], :].flatten()
self.logger.info(next_unload_area_value)
min_index = np.argmin(next_unload_area_value)
next_unload_area_id = self.unload_area_uuid_index_dict.inverse[min_index]
# next_excavator_id = self.excavator_uuid_index_dict.inverse[truck_trip[-1]]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
# return dispatch plan
return truck_dispatch
except Exception as es:
self.logger.error("空载车辆全智能模式-计算异常")
self.logger.error(es.__traceback__.tb_lineno)
self.logger.error(es)
truck_dispatch[i] = [None, None]
elif truck_task == 0:
try:
truck_locate = self.truck.get_truck_locate_dict()[i]
except Exception as es:
self.logger.error("车辆位置信息丢失")
self.logger.error(es)
self.logger.info(self.truck.truck_is_temp)
try:
truck_is_temp = self.truck.truck_is_temp[i]
except Exception as es:
truck_is_temp = False
self.logger.error("车辆临时字段异常")
self.logger.error(es)
# 车辆当前位于交叉路口前，且排队等待
self.logger.info(f'车辆位置 {truck_locate}')
self.logger.info(f'车辆状态 {self.truck.truck_current_state[i]}')
self.logger.info(f'车辆临时 {truck_is_temp} {type(truck_is_temp)}')
self.logger.info(self.topo.cross_bf_lanes)
self.logger.info(self.truck.truck_current_state)
self.logger.info(truck_is_temp)
if (truck_locate in self.topo.cross_bf_lanes) and (self.truck.truck_current_state[i] == 2) \
and (not truck_is_temp):
self.logger.info("触发二次调度")
# 当前绑定卸载区
# if truck_trip[0] == -1:
next_unload_area_id = session_mysql.query(EquipmentPair).filter_by(truck_id=i,
isdeleted=0).first().unload_area_id
# else:
# dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[0]]
# next_unload_area_id = get_value("dump_uuid_to_unload_area_uuid_dict")[dump_id]
# 当前绑定装载区
# if truck_trip[-1] == -1:
item = session_mysql.query(EquipmentPair).filter_by(truck_id=i, isdeleted=0).first()
current_excavator_id = item.exactor_id
current_load_area_id = item.load_area_id
self.logger.info(f'truck_id {i}')
self.logger.info(f'current_load_area_id {current_load_area_id}')
# else:
# current_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[-1]]
# current_load_area_id = DispatchInfo.excavator_load_dict[current_excavator_id]
load_area_dict, load_area_lane_dict = self.topo.get_load_target_node_real(truck_locate,
current_load_area_id, True)
self.logger.info("所有可达装载区")
self.logger.info(load_area_dict)
# 获取拥堵路段
congestion_lane_dict = self.get_congestion_lanes()
# 获取当前交叉口下一路段集合
next_lane_list = get_cross_next_lanes(truck_locate)
# 交叉口下一路段可达的装载区
next_lane_load_area_dict = get_lane_reach_load_areas(load_area_lane_dict,
next_lane_list)
# 排除下一个路段阻塞的装载区
delete_congestion_load_area(congestion_lane_dict, load_area_dict,
next_lane_load_area_dict)
self.logger.info("剔除堵塞装载区")
self.logger.info(load_area_dict)
# 获取最佳挖机
best_excavator_id = self.get_best_excavator(current_excavator_id, i, load_area_dict)
next_excavator_id = best_excavator_id
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
self.logger.info(f'二次调度结果 {i}')
self.logger.info(truck_dispatch[i])
elif truck_task == 3:
try:
truck_locate = self.truck.get_truck_locate_dict()[i]
except Exception as es:
self.logger.error("车辆位置信息丢失")
self.logger.error(es)
try:
truck_is_temp = self.truck.truck_is_temp[i]
except Exception as es:
truck_is_temp = False
self.logger.error("车辆临时字段异常")
self.logger.error(es)
self.logger.info(f'车辆位置 {truck_locate}')
self.logger.info(f'车辆状态 {self.truck.truck_current_state[i]}')
self.logger.info(f'车辆临时 {truck_is_temp} {type(truck_is_temp)}')
# 车辆当前位于交叉路口前，且排队等待
if (truck_locate in self.topo.cross_bf_lanes) and (self.truck.truck_current_state[i] == 2) \
and (not truck_is_temp):
# 当前绑定装载区
if truck_trip[0] == -1:
next_excavator_id = session_mysql.query(EquipmentPair).filter_by(truck_id=i,
isdeleted=0).first().exactor_id
else:
next_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[0]]
# 当前绑定卸载区
if truck_trip[-1] == -1:
item = session_mysql.query(EquipmentPair).filter_by(truck_id=i, isdeleted=0).first()
current_dump_id = item.dump_id
current_unload_area_id = item.unload_area_id
else:
current_dump_id = get_value("dump_index_to_uuid_dict")[truck_trip[-1]]
current_unload_area_id = DispatchInfo.dump_unload_area_dict[current_dump_id]
unload_area_dict, unload_area_lane_dict = self.topo.get_unload_target_node_real(truck_locate,
current_unload_area_id,
True)
# 获取拥堵路段
congestion_lane_dict = self.get_congestion_lanes()
# 获取当前交叉口下一路段集合
next_lane_list = get_cross_next_lanes(truck_locate)
# 交叉口下一路段可达的装载区
next_lane_load_area_dict = get_lane_reach_load_areas(unload_area_lane_dict,
next_lane_list)
# 排除下一个路段阻塞的装载区
delete_congestion_load_area(congestion_lane_dict, unload_area_dict,
next_lane_load_area_dict)
min_trip_time = 10000000
best_dump_id = current_dump_id
for unload_area, value in unload_area_dict.items():
# 车辆不需要掉头
if value[-1] == 1 and unload_area in DispatchInfo.unload_area_dump_dict:
dump_id = DispatchInfo.unload_area_dump_dict[unload_area]
traveling_time = value[0] / self.truck.heavy_speed[i]
now = float(
(datetime.now() - self.pre_sch.start_time) / timedelta(hours=0, minutes=1,
seconds=0))
reach_time = now + traveling_time
trip_time = max(reach_time,
self.pre_sch.get_dump_avl_time()[dump_id]) - now
if min_trip_time > trip_time:
best_dump_id = dump_id
next_unload_area_id = DispatchInfo.dump_unload_area_dict[best_dump_id]
truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
# res = redispatch_request(i, next_excavator_id, next_unload_area_id)
# self.logger.info(res)
self.logger.info(f'二次调度结果 {i}')
self.logger.info(truck_dispatch[i])
def get_best_excavator(self, current_excavator_id, truck_id, load_area_dict):
"""
get best excavator
:param current_excavator_id: 当前车辆配对挖机
:param truck_id:
:param load_area_dict: 备选装载区
:return:
"""
min_trip_time = 10000000
best_excavator_id = current_excavator_id
for load_area, value in load_area_dict.items():
# 车辆不需要掉头
if value[-1] == 1 and load_area in DispatchInfo.load_excavator_dict:
excavator_id = DispatchInfo.load_excavator_dict[load_area]
traveling_time = 60 * (value[0] / 1000) / self.truck.empty_speed[truck_id]
self.logger.info(f'load_area {load_area}')
self.logger.info(f'traveling_time {traveling_time}')
now = float(
(datetime.now() - self.pre_sch.start_time) / timedelta(hours=0, minutes=1, seconds=0))
reach_time = now + traveling_time
self.logger.info(f'reach_time {reach_time}')
trip_time = max(reach_time, self.pre_sch.get_excavator_avl_time(truck_id=truck_id)[excavator_id]) - now
self.logger.info(f'trip_time {trip_time}')
if min_trip_time > trip_time:
best_excavator_id = excavator_id
min_trip_time = trip_time
return best_excavator_id
def get_congestion_lanes(self):
# 存在车辆拥堵的路段
truck_locate_dict = self.truck.get_truck_locate_dict()
congestion_lane_list = []
for key, value in truck_locate_dict.items():
if self.truck.truck_current_state[key] == 2:
congestion_lane_list.append(value)
return list(set(congestion_lane_list))
core/schedule.py
View file @ 4cca50a5
......@@ -50,7 +50,7 @@ class PreSchedule:
self.logger = get_logger("zxt.pre_schedule")
def update_truck_reach_time(self):
def update_truck_reach_time(self, truck_id=None):
"""
更新矿卡预计抵达目的地时间
:return:
......@@ -75,6 +75,8 @@ class PreSchedule:
# self.logger.info("update_truck_reach_time-trucks")
# self.logger.info(trucks)
for i in range(trucks):
if truck_id is not None and i == self.truck.truck_uuid_to_index_dict[truck_id]:
continue
task = truck_current_task[self.truck.truck_index_to_uuid_dict[i]]
end_area_index = truck_current_trip[i][1]
if end_area_index == -1:
......@@ -133,8 +135,6 @@ class PreSchedule:
)
for reach_ls in excavator_avl_ls:
self.logger.info("update_excavator_avl_time-excavator_avl_ls")
self.logger.info(excavator_avl_ls)
if len(reach_ls) != 0:
reach_ls = np.array(reach_ls)
tmp = reach_ls[np.lexsort(reach_ls[:, ::-1].T)]
......@@ -183,6 +183,8 @@ class PreSchedule:
# self.truck_avl_time[int(tmp[i][1])] = now
# if abs(self.excavator_avl_time[excavator_index] - now) > 60:
# self.excavator_avl_time[excavator_index] = now
self.logger.info("update_excavator_avl_time-excavator_avl_ls")
self.logger.info(excavator_avl_ls)
except Exception as es:
self.logger.error("挖机可用时间计算异常")
self.logger.error(es)
......@@ -279,7 +281,7 @@ class PreSchedule:
dump_avl_time = self.update_dump_avl_time(dump_avl_ls)
return dump_avl_time
def get_excavator_avl_time(self, excavator_id=None):
def get_excavator_avl_time(self, excavator_id=None, truck_id=None):
"""
获取挖机最早可用时间
:param excavator_id: 挖机编号uuid
......@@ -287,7 +289,7 @@ class PreSchedule:
excavator_avl_time: (array) 各挖机完成所有已分配矿卡装载的时间
"""
self._reset()
excavator_avl_ls, dump_avl_ls = self.update_truck_reach_time()
excavator_avl_ls, dump_avl_ls = self.update_truck_reach_time(truck_id=truck_id)
if excavator_id is not None:
return self.update_excavator_avl_time(excavator_avl_ls) \
[self.excavator.excavator_uuid_to_index_dict[excavator_id]]
......
core/util.py
View file @ 4cca50a5
......@@ -40,6 +40,40 @@ with open(json_file) as f:
#
# return POST(real_data)
def get_cross_next_lanes(truck_locate):
next_lane_list = []
startNodeId = session_postgre.query(Lane).filter_by(Id=truck_locate).first().EndNodeId
for item in session_postgre.query(Lane).filter_by(StartNodeId=startNodeId).all():
next_lane_list.append(str(item.Id))
return next_lane_list
def delete_congestion_load_area(congestion_lane_dict, load_area_dict, next_lane_load_area_dict):
"""
:param congestion_lane_dict: 拥堵路段
:param load_area_dict: 拓扑图规划得到的可达装载区
:param next_lane_load_area_dict: 路段可达的装载区
:return:
"""
for lane_id in next_lane_load_area_dict: # 下一装载区路段
if lane_id in congestion_lane_dict: #
for load_area in next_lane_load_area_dict[lane_id]:
if load_area in load_area_dict:
del load_area_dict[load_area]
def get_lane_reach_load_areas(load_area_lane_dict, next_lane_list):
next_lane_load_area_dict = {}
for lane_id in next_lane_list:
for key, value in load_area_lane_dict.items():
if lane_id in value:
if lane_id not in next_lane_load_area_dict:
next_lane_load_area_dict[lane_id] = [key]
else:
next_lane_load_area_dict[lane_id].append(key)
return next_lane_load_area_dict
def POST(truck_id):
"""
......
equipment/truck.py
View file @ 4cca50a5
......@@ -212,9 +212,9 @@ class TruckInfo(WalkManage):
if truck_name_to_uuid_dict[item] in self.dynamic_truck_set:
try:
isTemp = key_value_dict["isTemp"]
print(isTemp)
self.truck_is_temp[truck_name_to_uuid_dict[item]] = bool(isTemp)
except Exception as es:
self.logger.error(item)
self.logger.error(es)
self.truck_is_temp[truck_name_to_uuid_dict[item]] = True
......
graph/topo_graph.py
View file @ 4cca50a5
......@@ -343,6 +343,8 @@ class Topo():
if not len(target_list):
self.logger.error("当前无可去卸载区！")
unload_area_lane_dict = {}
path_length_map = {}
# build the path_length_map from source node
......@@ -350,6 +352,12 @@ class Topo():
try:
distance, path = nx.single_source_dijkstra(self.unload_G, source=source_node, target=i,
weight="real_distance")
unload_area_id = session_postgre.query(DumpArea).filter_by(Id=unload_area_id).first(EntranceNodeId=i).first().Id
unload_area_lane_dict[str(unload_area_id)] = []
for j in range(len(path) - 1):
unload_area_lane_dict[str(unload_area_id)] += self.load_G[path[j]][path[j+1]]['lane']
path_length_map[distance] = path
# print(path)
except Exception as es:
......@@ -446,6 +454,9 @@ class Topo():
if not len(target_list):
self.logger.error("当前无可去装载区！")
load_area_lane_dict = {}
# print(target_list)
path_length_map = {}
# build the path_length_map from source node
......@@ -453,6 +464,12 @@ class Topo():
try:
distance, path = nx.single_source_dijkstra(self.load_G, source=source_node, target=i,
weight="real_distance")
load_area_id = session_postgre.query(DiggingWorkArea).filter_by(EntranceNodeId=i).first().Id
load_area_lane_dict[str(load_area_id)] = []
for j in range(len(path) - 1):
load_area_lane_dict[str(load_area_id)] += self.load_G[path[j]][path[j+1]]['lane']
path_length_map[distance] = path
# print(path)
except Exception as es:
......@@ -470,7 +487,7 @@ class Topo():
else:
reachable_destinations[target_digging_area] = [k + distance_end_node, 1]
return reachable_destinations
return reachable_destinations, load_area_lane_dict
def update_cross_nodes(self):
"""
......
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