空车智能增加二次调度及穿越装载区功能

config.json

 {
     "para": {
-        "log_path": "/Users/guoao/Desktop/Log",
+        "log_path": "./Logs/dispatch.log",
         "empty_speed": 18,
         "heavy_speed": 18,
         "dump_target_mass": 5000,
@@ -26,6 +26,10 @@
         "host": "172.16.0.53",
         "password": "Huituo@123"
     },
+    "gothrough": {
+        "closer_area_name": "哈装测试",
+        "further_area_name": "哈装2"
+    },
     "geom": {
         "redispatch_minimal_distance": 40
     }

core/group.py

@@ -514,42 +514,116 @@ class GroupDispatcher:
         self.logger.info(f'调度结果 next_excavator_id: '
                          f'{next_excavator_id} next_unload_area_id: {next_unload_area_id}')
 
-    def semi_dynamic_mode(self, i, s, truck_dispatch, truck_info):
-        # TODO：和全智能调度很像，是否可以合并合；
-
-        truck_task = truck_info.get_task()
+    def semi_dynamic_mode(self, truck_id, s, truck_dispatch, truck_info):
 
         truck_trip = truck_info.get_trip()
 
-        # 加入二次调度；
+        truck_name = truck_info.get_name()
+
+        # 获取车辆任务信息
+        try:
+            truck_task = truck_info.get_task()
+            if truck_task is None:
+                raise Exception(f'车辆 {truck_name} 任务信息丢失')
+        except Exception as es:
+            self.logger.error(es)
+            return
+
+        # 获取车辆位置信息
+        try:
+            truck_locate = self.group.truck.truck_lane_locate_dict[truck_id]
+
+        except Exception as es:
+            self.logger.warning(f'车辆 {truck_name} 位置信息丢失')
+            truck_locate = None
+
+        # 车辆当前 1)位于备停区; 2)位于卸载区; 3)车辆重载行驶, 调度车辆前往装载区
         if truck_task in [-2, 3, 4, 5]:
-            try:
+            if truck_task == 3:
+                self.logger.info("正常重载行驶, 执行重载周期调度, 调度车辆前往挖机")
+            elif truck_task == -2:
+                self.logger.info("备停区内, 执行重载周期调度, 调度车辆前往挖机")
+            else:
+                self.logger.info("卸载区内, 执行重载周期调度, 调度车辆前往挖机")
 
-                if i in self.group.truck.truck_excavator_bind:
-                    next_excavator_id = self.group.truck.truck_excavator_bind[i]
-                else:
-                    next_excavator_value = s.solve(truck_info)
-                    # min_index = next_excavator_list.index(min(next_excavator_list))
-                    self.logger.info(f'车辆排斥修正 {i}, {self.group.truck_excavator_exclude_modify[i]}')
-                    min_index = np.argmin(next_excavator_value + self.group.truck_excavator_exclude_modify[i])
-                    next_excavator_id = self.group.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.heavy_period_dispatch(s, truck_dispatch, truck_id, truck_info, truck_task, truck_trip)
 
-            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)
+        # 车辆当前 1)位于装载区; 2)车辆空载行驶, 调度车辆前往卸载区
+        elif truck_task in [0, 1, 2]:
+            planned = False
+
+            self.logger.info(f'车辆 {truck_name}')
+            self.logger.info(f'车辆位置 {truck_locate}')
+            self.logger.info(f'车辆任务状态 {truck_info.get_sate()}')
+
+            if truck_task == 0:
+                # 判断是否开启穿越装载区调度
+                if self.gothrough_active and truck_locate is not None:
+                    self.logger.info("穿越装载区调度开启")
+
+                    # 更新判定路段区域
+                    self.gothroghdispatcher.update_lanes_info()
+
+                    try:
+                        # 获取近端装载区入场点经纬度信息
+                        excavator_prise_location = get_excavator_prise_location(self.gothroghdispatcher.closer_excavator_id)
+                        # 获取车辆经纬度信息
+                        truck_prise_location = self.group.truck.truck_current_prise_location[truck_id]
+                    except Exception as es:
+                        self.logger.error("挖机或车辆经纬信息未知")
+                        self.logger.error(es)
+                        excavator_prise_location = [-1, -1]
+                        truck_prise_location = [-1, -1]
+
+                    self.logger.info(f'挖机经纬度信息 {excavator_prise_location}')
+                    self.logger.info(f'车辆经纬度信息 {truck_prise_location}')
+
+                    from haversine import haversine
+
+                    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}')
+
+                    # 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]:
+                        try:
+                            self.logger.info("触发穿越装载区调度")
+                            planned = self.gothroghdispatcher.redispatch_request(request_truck_id=truck_id,
+                                             truck=self.group.truck, truck_dispatch=truck_dispatch, truck_info=truck_info)
+                            self.logger.info(f'穿越装载区调度成功? {planned}')
+                        except Exception as es:
+                            self.logger.error("穿越调度失败")
+                            self.logger.error(es)
+
+                # 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:
+                    self.logger.info("二次调度开启")
+
+                    # 车辆当前位于交叉路口前，且排队等待
+                    self.logger.info("交叉口前路段id列表")
+                    self.logger.info(self.group.topo.cross_bf_lanes)
+                    self.logger.info(truck_info.get_sate())
+                    if truck_locate in self.group.topo.cross_bf_lanes:
+                        self.logger.info("触发二次调度")
+                        try:
+                            truck_info.redispatch =\
+                                self.redispatcher.redispatch_to_excavator(truck_id, truck_dispatch, truck_locate,
+                                                                      truck_trip, truck_info)
+                            planned = True
+                        except Exception as es:
+                            self.logger.error("二次调度至装载点失败")
+                            self.logger.error(es)
+                            planned = False
+
+            # 穿越调度和二次调度均不触发，正常空载调度
+            if not planned or truck_task != 0:
+                try:
+                    truck_dispatch[truck_id] = 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)
 
     def full_dynamic_mode(self, truck_id: str, s: AlgorithmBase, truck_dispatch: Mapping[str, List[str]],
                           truck_info: CurrentTruck):

start.sh

@@ -3,6 +3,6 @@ ps -ef|grep realtime_dispatch.py|grep -v grep |awk {'print $2'} |xargs kill -9
 sleep 2
 python3 topo_update_server.py
 sleep 2
-nohup python3 realtime_dispatch.py >/dev/null 2>&1 &
+sudo nohup python3 realtime_dispatch.py --active >/dev/null 2>&1 &
 sleep 2
 nohup flask run --host=0.0.0.0 >/dev/null 2>&1 &
\ No newline at end of file

versiontag.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2025/6/24 15:43
+# @Author : Opfer
+# @Site :
+# @File : versiontag.py.py
+# @Software: PyCharm
+
+VERSION_TAG = '78'
\ No newline at end of file