更新锁定禁止，更新穿越装载区，更新二次调度

app.py

@@ -126,7 +126,7 @@ def dispatch_request():
         submission = DispatchSubmission(dump, excavator, truck)
 
         # 实例化调度分组
-        group = Group(group_id, truck, pre_sch)
+        group = Group(group_id, truck, pre_sch, excavator, dump)
 
         # 更新调度分组信息
         group.info_update()

config.json

 {
     "para": {
-        "log_path": "./Logs/",
+        "log_path": "/usr/local/fleet-log/dispatch",
         "empty_speed": 17,
         "heavy_speed": 17,
         "dump_target_mass": 5000,
@@ -8,23 +8,23 @@
     },
 
     "mysql": {
-        "host": "172.16.0.103",
+        "host": "192.168.9.152",
         "port": "3306",
         "user": "root",
         "password": "Huituo@123",
-        "database": "ht_zhunneng_0913"
+        "database": "waytous"
     },
 
     "postgresql": {
-        "host": "172.16.0.103",
+        "host": "192.168.9.152",
         "port": "5432",
         "user": "postgres",
         "password": "Huituo@123",
-        "database": "gis_zhunneng_0913"
+        "database": "shenbao_2021520"
     },
 
     "redis": {
-        "host": "172.16.0.103",
+        "host": "192.168.9.152",
         "password": "Huituo@123"
     }
 }
\ No newline at end of file

core/group.py

@@ -6,15 +6,6 @@
 # @File : group.py
 # @Software: PyCharm
 
-
-#!E:\Pycharm Projects\Waytous
-# -*- coding: utf-8 -*-
-# @Time : 2022/5/30 15:35
-# @Author : Opfer
-# @Site :
-# @File : group.py
-# @Software: PyCharm
-
 from data.dispatchInfo import *
 from bidict import bidict
 from alg.algorithm import AlgorithmBase,DistributionRatio
@@ -94,6 +85,10 @@ class Group:
         self.unload_area_uuid_index_dict = bidict()
         self.dump_uuid_index_dict = bidict()
 
+        # device bind
+        self.dump_truck_bind = {}
+        self.excavator_truck_bind = {}
+
         # truck info.
         self.truck_info_list = {}
 
@@ -218,6 +213,34 @@ class Group:
         #     self.logger.info(es)
         #     self.logger.info("error-12")
 
+    def update_device_bind(self):
+        """
+        update device bind.
+        :return:
+        """
+        self.dump_truck_bind = {}
+        self.excavator_truck_bind = {}
+
+        for truck_id, dump_id in self.truck.truck_dump_bind.items():
+            if dump_id not in self.dump_truck_bind:
+                self.dump_truck_bind[dump_id] = [truck_id]
+            else:
+                self.dump_truck_bind[dump_id].append(truck_id)
+
+        for truck_id, excavator_id in self.truck.truck_excavator_bind.items():
+            if excavator_id not in self.excavator_truck_bind:
+                self.excavator_truck_bind[excavator_id] = [truck_id]
+            else:
+                self.excavator_truck_bind[excavator_id].append(truck_id)
+
+    def get_device_exclude(self, truck_id):
+        """
+        get device exclude modify vector.
+        :param truck_id: request truck id
+        :return:
+        """
+        pass
+
 
     def info_update(self):
         """
@@ -252,12 +275,15 @@ class Group:
             if self.group_mode == 1:
                 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)
                             # 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:
@@ -280,6 +306,10 @@ class Group:
                         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}')
@@ -304,6 +334,9 @@ class Group:
                 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)
@@ -354,6 +387,11 @@ class Group:
 
                     try:
 
+                        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:
+
                             next_unload_area_id = DistributionRatio(next_exactor_id, self.truck).ratio_main()
 
                     except Exception as es:

core/ruler.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2022/8/18 13:53
+# @Author : Opfer
+# @Site :
+# @File : ruler.py    
+# @Software: PyCharm
\ No newline at end of file

equipment/truck.py

@@ -69,6 +69,10 @@ class TruckInfo(WalkManage):
         self.dump_hold_truck_num = np.zeros(get_value("dynamic_dump_num"))
         # 各装载区矿卡数量
         self.excavator_hold_truck_num = np.zeros(get_value("dynamic_excavator_num"))
+        # 驶往各卸载区矿卡集合
+        self.dump_hold_truck_list = {item: [] for item in get_value("dynamic_dump_set")}
+        # 驶往各装载区矿卡集合
+        self.excavator_hold_truck_list = {item: [] for item in get_value("dynamic_excavator_set")}
         # 日志
         self.logger = get_logger("zxt.truck")
         # # 初始化读取参数
@@ -438,6 +442,11 @@ class TruckInfo(WalkManage):
 
                     # 目的地矿卡数加一
                     self.excavator_hold_truck_num[end_eqp_index] = self.excavator_hold_truck_num[end_eqp_index] + 1
+                    # 目的地矿卡集合增加
+                    if item.exactor_id not in self.excavator_hold_truck_list:
+                        self.excavator_hold_truck_list[item.exactor_id] = [truck_id]
+                    else:
+                        self.excavator_hold_truck_list[item.exactor_id].append(truck_id)
                 # 若矿卡状态为重载(含卸载出场)
                 elif task in [3, 4, 5]:
 
@@ -446,6 +455,11 @@ class TruckInfo(WalkManage):
 
                     # 目的地矿卡数加一
                     self.dump_hold_truck_num[end_eqp_index] = self.dump_hold_truck_num[end_eqp_index] + 1
+                    # 目的地矿卡集合增加
+                    if item.dump_id not in self.dump_hold_truck_list:
+                        self.dump_hold_truck_list[item.dump_id] = [truck_id]
+                    else:
+                        self.dump_hold_truck_list[item.dump_id].append(truck_id)
                 # 其他状态，矿卡状态为-2，equipment_pair表不存在该矿卡
                 else:
                     pass
@@ -753,6 +767,10 @@ class TruckInfo(WalkManage):
         self.dump_hold_truck_num = np.zeros(get_value("dynamic_dump_num"))
         # 各装载区矿卡数量
         self.excavator_hold_truck_num = np.zeros(get_value("dynamic_excavator_num"))
+        # 驶往各卸载区矿卡集合
+        self.dump_hold_truck_list = {item: [] for item in get_value("dynamic_dump_set")}
+        # 驶往各装载区矿卡集合
+        self.excavator_hold_truck_list = {item: [] for item in get_value("dynamic_excavator_set")}
         # 对象域更新
         self.dump = dump
         self.excavator = excavator

ga.txt

-aaaaaa

gothrough/__init__.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2022/8/29 15:51
+# @Author : Opfer
+# @Site :
+# @File : __init__.py    
+# @Software: PyCharm
\ No newline at end of file

redispatch/redispatch.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2022/8/3 17:53
+# @Author : Opfer
+# @Site :
+# @File : redispatch.py    
+# @Software: PyCharm
+
+from flask import Flask, request
+from flask.json import jsonify
+from para_config import *
+from equipment.truck import TruckInfo
+from equipment.excavator import ExcavatorInfo
+from equipment.dump import DumpInfo
+from core.dispatcher import Dispatcher, PreSchedule
+from core.group import Group
+from flask_caching import Cache
+from alg.algorithm import ExpectedTime
+from data.dispatchInfo import DispatchInfo
+from core.dispatcher import DispatchSubmission
+from graph_load import graph_construct
+
+config = {
+    "DEBUG": True,          # some Flask specific configs
+    "CACHE_TYPE": "SimpleCache",  # Flask-Caching related configs
+    "CACHE_DEFAULT_TIMEOUT": 300
+}
+
+app = Flask(__name__)
+app.config.from_mapping(config)
+cache = Cache(app)
+
+
+def update_truck_loacate(truck_id):
+    # 读取矿卡所在路段信息
+    try:
+        truck_locate_dict = {}
+        device_name_set = redis2.keys()
+        for item in device_name_set:
+            item = item.decode(encoding='utf-8')
+            # json_value = json.loads(redis2.get(item))
+            key_value_dict = redis2.hgetall(item)
+            device_type = key_value_dict[str_to_byte('type')]
+            is_online = key_value_dict[str_to_byte('online')]
+            key_set = key_value_dict.keys()
+            if (device_type == str_to_byte("1")) \
+                    and (str_to_byte('online') in key_set) \
+                    and (bytes.decode(is_online) in ["true" or "True"]) \
+                    and (str_to_byte('laneId') in key_set):
+                truck_locate = key_value_dict[str_to_byte('laneId')]
+                truck_locate_dict[get_value("truck_name_to_uuid_dict")[item]] = eval(truck_locate)
+    except Exception as es:
+        logger.error(" ")
+
+    return truck_locate_dict[truck_id]
+
+
+@app.route("/redispatch", methods=["POST"])
+def dispatch_request():
+
+    # 获取报文数据
+    data_json = request.get_json()
+
+    # 车辆id
+    truck_id = data_json.get("truck_id")
+
+    # 调度开始时间
+    rtd_start_time = datetime.now()
+
+    # 初始化日志
+    set_log()
+    # 获取日志器
+    logger = get_logger("zxt.truck-request")
+
+    # 更新周期参数
+    logger.info("#####################################请求调度更新开始#####################################")
+
+    try:
+
+        # 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()
+    except Exception as es:
+        logger.error("数据库访问异常")
+        logger.error(es)
+        return jsonify(msg="未知异常, 请联系管理员", code=501)
+
+    try:
+
+        # 全局参数更新
+        global_period_para_update()
+        # get_global_para_from_cache(cache)
+
+    except Exception as es:
+        logger.error("全局参数更新异常")
+        logger.error(es)
+        session_mysql.rollback()
+        session_postgre.rollback()
+        return jsonify(msg="未知异常, 请联系管理员", code=502)
+
+    try:
+        # 更新调度信息
+        DispatchInfo.reset()
+
+        DispatchInfo.update_device_group_structure()
+
+        if group_id not in DispatchInfo.truck_group_dict:
+            raise Exception("请求调度车辆不存在")
+
+        DispatchInfo.update_route_distance()
+
+        DispatchInfo.update_group_mode()
+
+        DispatchInfo.update_group_name()
+    except Exception as es:
+        logger.error("调度信息更新异常")
+        logger.error(es)
+        session_mysql.rollback()
+        session_postgre.rollback()
+        return jsonify(msg="未知异常, 请联系管理员", code=503)
+
+    logger.info("Dispatchinfo，更新后信息")
+    logger.info("group_set")
+    logger.info(DispatchInfo.group_set)
+    logger.info("group_excavator_dict")
+    logger.info(DispatchInfo.group_excavator_dict)
+    logger.info("group_unload_area_dict")
+    logger.info(DispatchInfo.group_unload_area_dict)
+    logger.info("group_truck_dict")
+    logger.info(DispatchInfo.group_truck_dict)
+    logger.info("group_mode")
+    logger.info(DispatchInfo.group_mode)
+    logger.info("load_distance")
+    logger.info(DispatchInfo.load_distance)
+    logger.info("unload_distance")
+    logger.info(DispatchInfo.unload_distance)
+
+    try:
+
+        # 实例化设备对象
+        dump = DumpInfo()
+        excavator = ExcavatorInfo()
+        truck = TruckInfo(dump, excavator)
+
+        group_id = DispatchInfo.truck_group_dict[truck_id]
+
+        # 设备信息更新
+        dump.dump_para_period_update()
+        excavator.excavator_para_period_update()
+        truck.truck_para_period_update(dump, excavator)
+        truck.state_period_update()
+
+        # 实例化调度预测器
+        pre_sch = PreSchedule(truck, excavator, dump)
+
+        # 实例化输出器
+        submission = DispatchSubmission(dump, excavator, truck)
+
+        # 实例化调度分组
+        group = Group(group_id, truck, pre_sch)
+
+        # 更新调度分组信息
+        group.info_update()
+
+        truck_trip = truck.get_truck_current_trip()[truck.truck_uuid_to_index_dict[truck_id]]
+        truck_task = truck.get_truck_current_task()[truck_id]
+
+        truck_lane = update_truck_loacate(truck_id)
+
+        excavators = DispatchInfo.group_excavator_dict[group_id]
+        dumps = DispatchInfo.dump_group_dict[group_id]
+
+        topo = graph_construct()
+
+        next_target = None
+
+        if truck_task in [-2, 0]:
+
+            excavator_distance_dict = topo.get_load_target_node_real(truck_lane, None)
+            MAX_DIS = 100000000
+            for excavator_id in excavators:
+                if excavator_distance_dict[excavator_id] < MAX_DIS:
+                    next_target = excavator_id
+                    MAX_DIS = excavator_distance_dict[excavator_id]
+
+        elif truck_task == 3:
+            dump_distance_dict = topo.get_unload_target_node_real(truck_lane, None)
+            MAX_DIS = 100000000
+            for dump_id in dumps:
+                if dump_distance_dict[dump_id] < MAX_DIS:
+                    next_target = dump_id
+                    MAX_DIS = dump_distance_dict[dump_id]
+
+
+    except Exception as es:
+        logger.error("对象实例化异常")
+        logger.error(es)
+        session_mysql.rollback()
+        session_postgre.rollback()
+        return jsonify(msg="未知异常, 请联系管理员", code=504)
+
+    try:
+
+        # 调度分组派车计划计算
+        try:
+            truck_dispatch_plan_dict = group.group_dispatch(ExpectedTime)
+        except Exception as es:
+            logger.error(es)
+            logger.error(f'分组{group.group_id} 调度计算异常')
+
+        try:
+
+            logger.info(f'调度分组: {group.group_id} {DispatchInfo.group_name[group.group_id]}')
+            submission.group_dispatch_to_redis(group, truck_dispatch_plan_dict)
+        except Exception as es:
+            logger.error(es)
+            logger.error(f'分组{group.group_id} 调度写入异常')
+
+    except Exception as es:
+        logger.error("最外层异常捕获")
+        logger.error(es)
+        return jsonify(msg="未知异常, 请联系管理员", code=505)
+
+    session_mysql.close()
+    session_postgre.close()
+
+    logger.info("#####################################请求调度更新结束#####################################")
+
+    # 调度结束时间
+    rtd_end_time = datetime.now()
+
+    print(f'调度时耗 {rtd_end_time - rtd_start_time}')
+
+    return jsonify(msg="success", code=0)
\ No newline at end of file

settings.py

@@ -60,15 +60,15 @@ def set_log():
 
     # 创建日志目录
 
-    if not os.path.exists(log_path):
-        os.mkdir(log_path)
+    # if not os.path.exists(log_path):
+    #     os.mkdir(log_path)
     # logging初始化工作
     logging.basicConfig()
 
 
     # timefilehandler = logging.handlers.TimedRotatingFileHandler(log_path + "/dispatch.log", when='M', interval=1, backupCount=60)
-    filehandler = logging.handlers.RotatingFileHandler(log_path + "/dispatch.log", maxBytes=30*1024*1024, backupCount=10, encoding="utf-8")
-    # filehandler = logging.handlers.RotatingFileHandler("./Logs/dispatch.log", maxBytes=3 * 1024 * 1024, backupCount=10, encoding="utf-8")
+    # filehandler = logging.handlers.RotatingFileHandler(log_path + "/dispatch.log", maxBytes=30*1024*1024, backupCount=10, encoding="utf-8")
+    filehandler = logging.handlers.RotatingFileHandler("./Logs/dispatch.log", maxBytes=3 * 1024 * 1024, backupCount=10, encoding="utf-8")
     # 设置后缀名称，跟strftime的格式一样
     filehandler.suffix = "%Y-%m-%d_%H-%M.log"
 

tables.py

@@ -284,13 +284,15 @@ class Lane(Base):
     MaxSpeed = Column(Float)
     StartNodeId = Column(VARCHAR(36))
     EndNodeId = Column(VARCHAR(36))
+    Type = Column(Integer)
 
-    def __init__(self, Id, Length, MaxSpeed, StartNodeId, EndNodeId):
+    def __init__(self, Id, Length, MaxSpeed, StartNodeId, EndNodeId, Type):
         self.Id = Id
         self.Length = Length
         self.MaxSpeed = MaxSpeed
         self.StartNodeId = StartNodeId
         self.EndNodeId = EndNodeId
+        self.Type = Type
 
 
 class Dispatch(Base):
@@ -507,6 +509,7 @@ class DumpArea(Base):
     __tablename__ = 'Geo_DumpArea'
 
     Id = Column(VARCHAR(50), primary_key=True)
+    Name = Column(VARCHAR(36))
     BindList = Column(VARCHAR(1000))
     UnloadAbililty = Column(Float)
     Disabled = Column(Integer)
@@ -517,8 +520,9 @@ class DumpArea(Base):
     ExitNodeId = Column(VARCHAR(50))
     Name = Column(VARCHAR(36))
 
-    def __init__(self, Id, BindList, UnloadAbililty, Disabled, Materials, Priority, DumpEquipmentId, EntranceNodeId,ExitNodeId, Name):
+    def __init__(self, Id, Name, BindList, UnloadAbililty, Disabled, Materials, Priority, DumpEquipmentId, EntranceNodeId,ExitNodeId):
         self.Id = Id
+        self.Name = Name
         self.BindList = BindList
         self.UnloadAbililty = UnloadAbililty
         self.Disabled = Disabled
@@ -527,21 +531,22 @@ class DumpArea(Base):
         self.DumpEquipmentId = DumpEquipmentId
         self.EntranceNodeId = EntranceNodeId
         self.ExitNodeId = ExitNodeId
-        self.Name = Name
 
 
 class DiggingWorkArea(Base):
     __tablename__ = 'Geo_DiggingWorkArea'
 
     Id = Column(VARCHAR(50), primary_key=True)
+    Name = Column(VARCHAR(36))
     Material = Column(VARCHAR(36))
     ExactorId = Column(VARCHAR(36))
     ExactorUuid = Column(VARCHAR(50))
     EntranceNodeId = Column(VARCHAR(50))
     ExitNodeId = Column(VARCHAR(50))
 
-    def __init__(self, Id, Material, ExactorId, ExactorUuid, EntranceNodeId, ExitNodeId):
+    def __init__(self, Id, Name, Material, ExactorId, ExactorUuid, EntranceNodeId, ExitNodeId):
         self.Id = Id
+        self.Name = Name
         self.Material = Material
         self.ExactorId = ExactorId
         self.ExactorUuid = ExactorUuid

test4.py

-from path_plan.topo_graph import *
-import networkx as nx
-import matplotlib.pyplot as plt
+# from redispatch.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)
+# # topo.get_unload_target_node_real()
+# plt.show()
 
-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()
+A = [['309705a0-5ddf-4559-b6c4-ee17a57677ad', 9.04], ['899705a0-5ddf-4559-b6c4-ee17a57677ad', 6.05]]
+A = sorted(A, key=lambda item: item[1])
+print(A)
\ No newline at end of file

topo_sql.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2022/8/2 17:07
+# @Author : Opfer
+# @Site :
+# @File : topo_sql.py.py    
+# @Software: PyCharm
+
+import sqlite3
+
+conn = sqlite3.connect('test.db')
+c = conn.cursor()
+print ("数据库打开成功")
+
+cursor = c.execute("SELECT * FROM GRAPH")
+
+# c.execute("INSERT INTO GRAPH (id, startNodeId, endNodeId, distance) VALUES ('text_id12', 'as4343', 'sdsdsd', 20000.00 )")
+
+# conn.commit()
+
+for row in cursor:
+    print("id = ", row[0])
+    print("startNodeId = ", row[1])
+    print("endNodeId = ", row[2])
+    print("distance= ", row[3])
+    print("dir= ", row[4])
+
+print ("数据操作成功")
+conn.close()