空车智能增加穿越装载区功能 & 增加挖机禁止功能（仅限穿越装载区及二次调度）

config.json

@@ -27,11 +27,11 @@
         "password": "Huituo@123"
     },
     "gothrough": {
-        "closer_area_name": "哈装测试",
-        "further_area_name": "哈装2",
+        "closer_area_name": "7#装载",
+        "further_area_name": "6#装载区",
         "factor" : 0.6
     },
     "geom": {
-        "redispatch_minimal_distance": 40
+        "redispatch_minimal_distance": 20
     }
 }

core/group.py

@@ -568,7 +568,7 @@ class GroupDispatcher:
                     truck_prise_location = self.group.truck.truck_current_prise_location[truck_id]
 
                     if not is_close_to_cross(cross_lane, truck_prise_location):
-                        self.logger.info(f'距离过近无法触发穿越装载区调度')
+                        # self.logger.info(f'距离过近无法触发穿越装载区调度')
 
                         try:
                             # 获取近端装载区入场点经纬度信息
@@ -589,11 +589,16 @@ class GroupDispatcher:
                         truck_to_entrance_point_dis = haversine(excavator_prise_location, truck_prise_location)
                         self.logger.info(f'车辆到近端装载区入场点距离 {truck_to_entrance_point_dis}')
 
+                        self.logger.info("穿越装载区触发路段")
+                        self.logger.info(truck_locate)
+                        self.logger.info(self.gothroghdispatcher.closer_area_backtrack_lanes[1:3])
+                        self.logger.info(self.gothroghdispatcher.closer_area_backtrack_lanes)
+
                         # 若车辆到入场点距离大于指定阈值
                         if excavator_prise_location[0] != -1 and \
                                 truck_prise_location[0] != -1 and \
                                 haversine(excavator_prise_location, truck_prise_location) > 0.001 and \
-                                truck_locate in self.gothroghdispatcher.closer_area_backtrack_lanes[0:2]:
+                                truck_locate in self.gothroghdispatcher.closer_area_backtrack_lanes[1:3]:
                             try:
                                 self.logger.info("触发穿越装载区调度")
                                 planned = self.gothroghdispatcher.redispatch_request(request_truck_id=truck_id,
@@ -602,6 +607,8 @@ class GroupDispatcher:
                             except Exception as es:
                                 self.logger.error("穿越调度失败")
                                 self.logger.error(es)
+                    else:
+                        self.logger.info(f'距离过近无法触发穿越装载区调度')
 
                 # 未触发穿越装载区调度， 判断是否开启二次调度
                 if not planned and self.group.topo is not None and truck_locate is not None:
@@ -627,7 +634,9 @@ class GroupDispatcher:
             if not planned or truck_task != 0:
                 self.logger.info("穿越调度和二次调度均不触发，调度前往卸载区执行固定派车")
                 try:
-                    truck_dispatch[truck_id] = DispatchInfo.get_truck_match(truck_id)
+                    current_excavator = truck_info.get_combined_excavator()
+                    truck_dispatch[truck_id] = [current_excavator, DispatchInfo.get_excavator_match(current_excavator)]
+                    # DispatchInfo.get_truck_match(truck_id)
                 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)
@@ -993,6 +1002,14 @@ class ReDispatcher:
         next_lane_load_area_dict = get_lane_reach_load_areas(load_area_lane_dict, next_lane_list)
         self.logger.info("交叉口下一路段可达的装载区")
         self.logger.info(next_lane_load_area_dict)
+        # 排除异常掉线挖机
+        delete_disabled_load_area(load_area_dict)
+        self.logger.info("排除异常掉线挖机")
+        self.logger.info(load_area_dict)
+        # 排除不连通的装载区
+        delete_unconnected_load_area(truck_info.get_combined_unload_area(), load_area_dict)
+        self.logger.info("排除不连通的装载区")
+        self.logger.info(load_area_dict)
         # 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)
@@ -1003,7 +1020,7 @@ class ReDispatcher:
         self.logger.info("获取车辆经纬度信息")
         self.logger.info(truck_prise_location)
 
-        if is_close_to_cross(truck_locate, truck_prise_location):
+        if not is_close_to_cross(truck_locate, truck_prise_location):
             self.logger.info(f'距离过近无法触发二次调度')
             return False
 
@@ -1025,6 +1042,7 @@ class ReDispatcher:
             return True
 
         else:
+            truck_dispatch[truck_id] = [current_excavator_id, current_unload_area_id]
             self.logger.info(f'二次调度未变更')
 
             return False
@@ -1249,6 +1267,9 @@ class GoThroughDispatcher:
             # 读取挖机状态
             self.closer_excavator_state, self.further_excavator_state = get_excavator_state(self.closer_excavator_id), \
                                                                         get_excavator_state(self.further_excavator_id)
+            # 读取挖机禁止
+            self.closer_excavator_disabled, self.further_excavator_disabled = get_excavator_disabled(self.closer_excavator_id), \
+                                                                        get_excavator_disabled(self.further_excavator_id)
 
             # 读取两个装载区入场点ids
             closer_entrance_node_id = session_postgre.query(DiggingWorkArea).filter_by(
@@ -1415,7 +1436,7 @@ class GoThroughDispatcher:
 
         logger.info(f"近端lanes{self.closer_area_backtrack_lanes}")
 
-        if request_truck_lane_id in self.closer_area_backtrack_lanes[0:2]:
+        if request_truck_lane_id in self.closer_area_backtrack_lanes[1:3]:
             # 选择合适装载区
             target_excavator = None
             closer_distance = self.group.to_excavator_distance[self.group.unload_area_uuid_index_dict[
@@ -1436,7 +1457,8 @@ class GoThroughDispatcher:
                                                self.logger,
                                                truck, truck_locates_dict, self.closer_excavator_state,
                                                self.further_excavator_state, self.group.truck.start_time,
-                                               self.group.excavator_info.get_loading_task_time()[0])
+                                               self.group.excavator_info.get_loading_task_time()[0],
+                                               self.closer_excavator_disabled, self.further_excavator_disabled)
             except Exception as es:
                 logger.error("寻找最优装载区异常")
                 logger.error(es)

core/util.py

@@ -103,6 +103,32 @@ def delete_congestion_load_area(congestion_lane_dict, load_area_dict, next_lane_
                     del load_area_dict[load_area]
 
 
+def delete_unconnected_load_area(unload_area_id, 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 load_area in list(load_area_dict.keys()):
+        item = session_postgre.query(WalkTime).filter_by(load_area_id=load_area, unload_area_id=unload_area_id).first()
+        if item is None:
+            del load_area_dict[load_area]
+
+
+def delete_disabled_load_area(load_area_dict):
+    """
+    :param load_area_dict: 拓扑图规划得到的可达装载区
+    :return:
+    """
+    for load_area in list(load_area_dict.keys()):
+        excavator_id = session_mysql.query(DispatchSetting).filter_by(load_area_id=load_area).first().exactor_id
+        excavator_info = session_mysql.query(Equipment).filter_by(id=excavator_id).first()
+        if excavator_info is None or excavator_info.disabled == 1:
+            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:

data/dispatchInfo.py

@@ -54,6 +54,9 @@ class DispatchInfo:
     # truck -> match(excavator_id, unload_area_id)
     truck_match_dict = {}
 
+    # excavator_id -> dump_id
+    excavator_dump_match_dict = {}
+
     # group_unload_areas <-> group_dumps id
     dump_unload_area_dict = {}
     unload_area_dump_dict = {}
@@ -194,7 +197,7 @@ class DispatchInfo:
             for item in session_mysql.query(DispatchSetting).filter_by(isdeleted=0).all():
                 # add group_excavators
                 excavator_state = session_mysql.query(Equipment).filter_by(id=item.exactor_id).first()
-                # if excavator_state is not None and excavator_state.disabled == 1:
+                # if excavator_state is not None and excavator_state.disabled == 0:
                 if item.group_id not in cls.group_excavator_dict.keys():
                     cls.group_excavator_dict[item.group_id] = [item.exactor_id]
                 else:
@@ -263,6 +266,16 @@ class DispatchInfo:
             session_postgre.rollback()
             session_mysql.rollback()
 
+        # update excavator_id -> dump_id
+        try:
+            for item in session_mysql.query(DispatchMatch).all():
+                match_unload_area = session_mysql.query(DispatchMatch).filter_by(exactor_id=item.exactor_id).first().unload_area_id
+                cls.excavator_dump_match_dict[str(item.exactor_id)] = match_unload_area
+        except Exception as es:
+            logger.error(es)
+            session_postgre.rollback()
+            session_mysql.rollback()
+
     @classmethod
     def update_group_mode(cls):
         """
@@ -486,6 +499,10 @@ class DispatchInfo:
         return cls.truck_match_dict[truck_id]
 
     @classmethod
+    def get_excavator_match(cls, excavator_id):
+        return cls.excavator_dump_match_dict[excavator_id]
+
+    @classmethod
     def get_park_to_excavator_distance(cls, group_id):
         excavators = cls.group_excavator_dict[group_id]
         park_area_set = get_value("park_uuid_to_index_dict").keys()

util/area_analysis.py

@@ -15,7 +15,7 @@ import random
 
 def area_choose(request_truck_id, excavators_id, closer_area_id, further_area_id, further_lane_set, closer_lane_set,
                 logger, truck, truck_locates_dict, closer_excavator_state, further_excavator_state, sys_start_time,
-                loading_time):
+                loading_time, closer_excavator_disabled, further_excavator_disabled):
     """
     装载区选择
     :param sys_start_time:
@@ -130,6 +130,12 @@ def area_choose(request_truck_id, excavators_id, closer_area_id, further_area_id
             logger.info(f"穿越调度：近端挖机满载, 调度车辆前往远端装载区，远端派车数量{goto_further_area_num},空载车总数{arrival_truck_num}")
             target_excavator = DispatchInfo.load_excavator_dict[further_area_id]
             # truck_dispatch_to_redis(request_truck_id, group_id, DispatchInfo.load_excavator_dict[further_area_id])
+
+        if further_excavator_disabled == 1:
+            target_excavator = DispatchInfo.load_excavator_dict[closer_area_id]
+        elif closer_excavator_disabled == 1:
+            target_excavator = DispatchInfo.load_excavator_dict[further_area_id]
+
     except Exception as es:
         logger.error("找寻最空闲挖机异常")
         logger.error(es)
@@ -369,6 +375,25 @@ def get_excavator_state(excavator_id):
         return 0
 
 
+def get_excavator_disabled(excavator_id):
+    """
+    get group_excavators disabled.
+    :param excavator_id:
+    :return: disabled
+    """
+    try:
+
+        logger.info(excavator_id)
+        disabled = session_mysql.query(Equipment).filter_by(id=excavator_id, device_type=2).first().disabled
+
+        return int(disabled)
+
+    except Exception as es:
+        logger.error("挖机状态读取异常")
+        logger.error(es)
+        return 0
+
+
 def get_excavator_prise_location(excavator_id):
     """
     get group_excavators prise location.