topo first

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