启动异常检测&任务状态修正

config.json

 {
     "para": {
-<<<<<<< HEAD
-        "log_path": "E:\\Pycharm Projects\\Waytous\\",
-        "empty_speed": 25,
-        "heavy_speed": 22,
-=======
         "log_path": "/usr/local/fleet-log/dispatch",
         "empty_speed": 17,
         "heavy_speed": 17,
->>>>>>> new
         "dump_target_mass": 5000,
         "excavator_target_mass": 5000
     },

equipment/truck.py

@@ -183,7 +183,7 @@ class TruckInfo(WalkManage):
                 # 判断是否为矿卡
                 if device_type == 1:
                     task = self.truck_current_task[item]
-                    if task in heavy_task_set:
+                    if task in [3, 4, 5]:    # 矿卡重载行驶或仍未出场
                         if str_to_byte("lastLoadTime") in key_value_dict.keys():  # 若最后装载时间存在
                             last_load_time_tmp = eval(byte_to_str(key_value_dict[str_to_byte("lastLoadTime")]))
                             tmp_time = datetime.strptime(last_load_time_tmp, "%Y-%m-%d %H:%M:%S")
@@ -206,7 +206,7 @@ class TruckInfo(WalkManage):
                         # print("相对last_load_time", self.relative_last_load_time[item])
                         self.logger.info("相对last_load_time")
                         self.logger.info(self.relative_last_load_time[item])
-                    if task in empty_task_set:
+                    if task in [0, 1, 2]:    # 矿卡空载行驶或仍未出场
                         if str_to_byte("lastUnloadTime") in key_value_dict.keys():
                             last_unload_time_tmp = eval(key_value_dict[str_to_byte("lastUnloadTime")])
                             tmp_time = datetime.strptime(last_unload_time_tmp, "%Y-%m-%d %H:%M:%S")
@@ -277,7 +277,7 @@ class TruckInfo(WalkManage):
 
             try:
                 # 若矿卡状态为空运
-                if task in empty_task_set:
+                if task in [0, 1, 2]:    # 矿卡空载或仍未出装载区
                     last_unload_time = self.relative_last_unload_time[
                         self.truck_index_to_uuid_dict[i]
                     ]
@@ -312,7 +312,7 @@ 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
                 # 若矿卡状态为重载
-                elif task in heavy_task_set:
+                elif task in [3, 4, 5]:    # 矿卡重载或仍未出卸载区
                     # print("读取重载行程")
                     # print(item.exactor_id, item.dump_id)
                     last_load_time = self.relative_last_load_time[
@@ -383,7 +383,7 @@ class TruckInfo(WalkManage):
                         .filter_by(truck_id=truck_id, isdeleted=0)
                         .first()
                 )
-                if task in empty_task_set + heavy_task_set and item is None:
+                if task in empty_task_set + heavy_task_set and item is None:    # 矿卡处于正常工作状态, 但查询不到派车计划
                     raise Exception(f"矿卡 {truck_id} 配对关系异常")
             except Exception as es:
                 self.logger.error("配对关系异常")

group_control/group_control.py

@@ -119,11 +119,11 @@ class Group(WalkManage):
             end_area_index = truck_current_trip[i][1]
             start_area_index = truck_current_trip[i][0]
 
-            if task in heavy_task_set:
+            if task in [3, 4]:    # 矿卡空载或正在入场装载区
                 self.goto_dump_truck_num[start_area_index][end_area_index] += 1
                 self.actual_goto_dump_traffic_flow[start_area_index][end_area_index] += float(payload[i])
 
-            if task in empty_task_set:
+            if task in [0, 1]:    # 矿卡重载或正在入场卸载区
                 self.goto_excavator_truck_num[start_area_index][end_area_index] += 1
                 self.actual_goto_excavator_traffic_flow[start_area_index][end_area_index] += float(payload[i])
 

path_plan/path_plannner.py

@@ -349,45 +349,45 @@ class LaneInfo:
         # used lane, 存在行驶矿卡的路段
         tmp_lane_set = []
 
-        # try:
-        # 初始化
-        for lane_id in lane_set:
-            self.lane_speed_dict[str(lane_id)] = 0
-            lane_trucks_dict[str(lane_id)] = 0
-
-        # 对于各路段信息
-        print("truck_locate_dict")
-        print(truck_locate_dict.keys())
-        for truck in truck_locate_dict.keys():
-            lane_id = truck_locate_dict[truck]
-            logger.info("lane_speed_generate-lane_id")
-            logger.info(lane_id)
-            if lane_id in lane_set and truck in truck_speed_dict and truck in truck_locate_dict:
-                self.lane_speed_dict[truck_locate_dict[truck]] = self.lane_speed_dict[truck_locate_dict[truck]] + \
-                                                                 truck_speed_dict[truck]
-                # 该路段矿卡数量加一
-                lane_trucks_dict[truck_locate_dict[truck]] = lane_trucks_dict[truck_locate_dict[truck]] + 1
-                # 记录存在行驶矿卡的路段
-                tmp_lane_set.append(lane_id)
-
-        # 存在矿卡的路段
-        logger.info("存在矿卡的路段:")
-        logger.info(tmp_lane_set)
-
-        # 对不存在的矿卡路段，实时速度设置为最高
-        for lane_id in lane_set:
-            if lane_id not in tmp_lane_set:
-                self.lane_speed_dict[str(lane_id)] = session_postgre.query(Lane).filter_by(
-                    Id=lane_id).first().MaxSpeed
-                lane_trucks_dict[str(lane_id)] = 1
-
-        # 各路段实时速度取平均
-        for lane in lane_trucks_dict:
-            self.lane_speed_dict[lane] = self.lane_speed_dict[lane] / lane_trucks_dict[lane]
+        try:
+            # 初始化
+            for lane_id in lane_set:
+                self.lane_speed_dict[str(lane_id)] = 0
+                lane_trucks_dict[str(lane_id)] = 0
+
+            # 对于各路段信息
+            print("truck_locate_dict")
+            print(truck_locate_dict.keys())
+            for truck in truck_locate_dict.keys():
+                lane_id = truck_locate_dict[truck]
+                logger.info("lane_speed_generate-lane_id")
+                logger.info(lane_id)
+                if lane_id in lane_set and truck in truck_speed_dict and truck in truck_locate_dict:
+                    self.lane_speed_dict[truck_locate_dict[truck]] = self.lane_speed_dict[truck_locate_dict[truck]] + \
+                                                                     truck_speed_dict[truck]
+                    # 该路段矿卡数量加一
+                    lane_trucks_dict[truck_locate_dict[truck]] = lane_trucks_dict[truck_locate_dict[truck]] + 1
+                    # 记录存在行驶矿卡的路段
+                    tmp_lane_set.append(lane_id)
+
+            # 存在矿卡的路段
+            logger.info("存在矿卡的路段:")
+            logger.info(tmp_lane_set)
+
+            # 对不存在的矿卡路段，实时速度设置为最高
+            for lane_id in lane_set:
+                if lane_id not in tmp_lane_set:
+                    self.lane_speed_dict[str(lane_id)] = session_postgre.query(Lane).filter_by(
+                        Id=lane_id).first().MaxSpeed
+                    lane_trucks_dict[str(lane_id)] = 1
+
+            # 各路段实时速度取平均
+            for lane in lane_trucks_dict:
+                self.lane_speed_dict[lane] = self.lane_speed_dict[lane] / lane_trucks_dict[lane]
 
-        # except Exception as es:
-        #     logger.error("路段实时速度计算异常")
-        #     logger.error(es)
+        except Exception as es:
+            logger.error("路段实时速度计算异常")
+            logger.error(es)
 
         return self.lane_speed_dict
 

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

realtime_dispatch.py

@@ -19,42 +19,42 @@ from dispatcher import Dispatcher, PreSchedule
 
 def process(dispatcher):
 
-    # try:
-    # 更新周期参数
-    logger.info("#####################################周期更新开始#####################################")
+    try:
+        # 更新周期参数
+        logger.info("#####################################周期更新开始#####################################")
 
-    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
+        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_mysql.commit()
+        session_mysql.flush()
 
-    # 清空数据库缓存
-    session_postgre.commit()
-    session_postgre.flush()
+        # 清空数据库缓存
+        session_postgre.commit()
+        session_postgre.flush()
 
-    # 周期更新
-    dispatcher.dispatcher_period_update()
+        # 周期更新
+        dispatcher.dispatcher_period_update()
 
-    # try:
+        # try:
 
-    # 调度计算
-    dispatcher.schedule_construct()
+        # 调度计算
+        dispatcher.schedule_construct()
 
-    # except Exception as es:
-    #     logger.error("更新不及时")
-    #     logger.error(es)
+        # except Exception as es:
+        #     logger.error("更新不及时")
+        #     logger.error(es)
 
-    logger.info("#####################################周期更新结束#####################################")
+        logger.info("#####################################周期更新结束#####################################")
 
-    # except Exception as es:
-    #     logger.error("最外层异常捕获")
-    #     logger.error(es)
+    except Exception as es:
+        logger.error("最外层异常捕获")
+        logger.error(es)
 
 
 def perform(inc, dispatcher):