新增车辆空载及重载周期调度

alg/algorithm.py

@@ -369,8 +369,7 @@ class DistributionRatio(object):
     @desc：计算分流配比模式下，卡车与卸载区的对应关系
     """
 
-    # TODO:
-    # 统一与预期等待时间的接口
+    # TODO: 统一与预期等待时间的接口
 
     def __init__(self, exactor_id, truck):
         self.truck = truck

core/group.py

@@ -490,8 +490,7 @@ class GroupDispatcher:
         truck_dispatch[i] = [next_exactor_id, next_unload_area_id]
 
     def semi_dynamic_mode(self, i, s, truck_dispatch, truck_info, truck_task, truck_trip):
-        # TODO：
-        # 和全智能调度很像，是否可以合并合；
+        # TODO：和全智能调度很像，是否可以合并合；
 
         # 加入二次调度；
         if truck_task in [-2, 3, 4, 5]:
@@ -526,7 +525,34 @@ class GroupDispatcher:
     def full_dynamic_mode(self, i: str, s: AlgorithmBase, truck_dispatch: Mapping[str, List[str]],
                           truck_info: CurrentTruck, truck_task: int, truck_trip: List[int]):
         # 车辆停止或者车辆位于卸载区内, 调度车辆前往装载区
-        if truck_task in [-2, 4, 5]:
+        if truck_task in [-2, 3, 4, 5]:
+            if truck_task == 3 and self.group.truck.truck_current_state[i] == 2:
+                if self.group.topo is not None:
+                    try:
+                        truck_locate = self.group.truck.get_truck_locate_dict()[i]
+                    except Exception as es:
+                        self.logger.error("车辆位置信息丢失")
+                        self.logger.error(es)
+                        truck_dispatch[i] = [None, None]
+                        return
+                    try:
+                        truck_is_temp = self.group.truck.truck_is_temp[i]
+                    except Exception as es:
+                        truck_is_temp = False
+                        self.logger.error("车辆临时字段异常")
+                        self.logger.error(es)
+                    self.logger.info(f'车辆位置 {truck_locate}')
+                    self.logger.info(f'车辆状态 {self.group.truck.truck_current_state[i]}')
+                    self.logger.info(f'车辆临时 {truck_is_temp} {type(truck_is_temp)}')
+                    # 车辆当前位于交叉路口前，且排队等待
+                    if (truck_locate in self.group.topo.cross_bf_lanes) and (
+                            self.group.truck.truck_current_state[i] == 2) \
+                            and (not truck_is_temp):
+                        # self.redispatch_to_dump(i, truck_dispatch, truck_locate, truck_trip)
+                        self.redispatcher.redispatch_to_dump(i, truck_dispatch, truck_locate, truck_trip)
+                else:
+                    pass
+            else:
                 try:
                     if i in self.group.truck.truck_excavator_bind:
                         try:
@@ -557,44 +583,8 @@ class GroupDispatcher:
                     self.logger.error("重载车辆全智能模式-计算异常")
                     self.logger.error(es)
         # 车辆位于装载区内, 调度车辆前往卸载区
-        elif truck_task in [1, 2]:
-            try:
-                next_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[-1]]
-                next_unload_area_value = s.solve(truck_info)
-                # self.logger.info(f'车辆 {truck_id}')
-                # self.logger.info(f'group distance {self.to_unload_area_distance}')
-                # self.logger.info(f'walk available {self.group_walk_available}')
-                #
-                # self.logger.info(self.unload_area_uuid_index_dict)
-                # self.logger.info(self.excavator_uuid_index_dict)
-
-                if i in self.group.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.group.truck.truck_dump_bind[i]]
-                else:
-                    tmp = self.group.group_walk_available[
-                          self.group.excavator_uuid_index_dict[next_excavator_id], :].flatten()
-                    # self.logger.info(f'group_walk_available_pick {tmp}')
-                    # self.logger.info(f'next_excavator_id {next_excavator_id}')
-                    # self.logger.info(next_unload_area_value)
-                    next_unload_area_value *= self.group.group_walk_available[
-                                              self.group.excavator_uuid_index_dict[next_excavator_id], :].flatten()
-
-                    # self.logger.info(next_unload_area_value)
-                    min_index = np.argmin(next_unload_area_value)
-                    next_unload_area_id = self.group.unload_area_uuid_index_dict.inverse[min_index]
-
-                    self.logger.info(f'目标卸点 {min_index} {next_unload_area_id}')
-                    # next_excavator_id = self.excavator_uuid_index_dict.inverse[truck_trip[-1]]
-
-                truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
-
-            except Exception as es:
-                self.logger.error("空载车辆全智能模式-计算异常")
-                self.logger.error(es.__traceback__.tb_lineno)
-                self.logger.error(es)
-                truck_dispatch[i] = [None, None]
-        elif truck_task == 0:
+        elif truck_task in [0, 1, 2]:
+            if truck_task == 0 and self.group.truck.truck_current_state[i] == 2:
                 if self.group.topo is not None:
                     if i in self.group.truck.get_truck_locate_dict():
                         truck_locate = self.group.truck.get_truck_locate_dict()[i]
@@ -621,40 +611,53 @@ class GroupDispatcher:
                     self.logger.info(truck_is_temp)
                     # if (truck_locate in self.topo.cross_bf_lanes) and (self.truck.truck_current_state[truck_id] == 2) \
                     #         and (not truck_is_temp):
-                if (truck_locate in self.group.topo.cross_bf_lanes) and (self.group.truck.truck_current_state[i] == 2):
+                    if (truck_locate in self.group.topo.cross_bf_lanes) and (
+                            self.group.truck.truck_current_state[i] == 2):
                         self.logger.info("触发二次调度")
 
                         # self.redispatch_to_excavator(i, truck_dispatch, truck_locate)
                         self.redispatcher.redispatch_to_excavator(i, truck_dispatch, truck_locate)
                 else:
                     pass
-
-        elif truck_task == 3:
-            if self.group.topo is not None:
+            else:
                 try:
-                    truck_locate = self.group.truck.get_truck_locate_dict()[i]
+                    next_excavator_id = get_value("excavator_index_to_uuid_dict")[truck_trip[-1]]
+                    next_unload_area_value = s.solve(truck_info)
+                    # self.logger.info(f'车辆 {truck_id}')
+                    # self.logger.info(f'group distance {self.to_unload_area_distance}')
+                    # self.logger.info(f'walk available {self.group_walk_available}')
+                    #
+                    # self.logger.info(self.unload_area_uuid_index_dict)
+                    # self.logger.info(self.excavator_uuid_index_dict)
+
+                    if i in self.group.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.group.truck.truck_dump_bind[i]]
+                    else:
+                        tmp = self.group.group_walk_available[
+                              self.group.excavator_uuid_index_dict[next_excavator_id], :].flatten()
+                        # self.logger.info(f'group_walk_available_pick {tmp}')
+                        # self.logger.info(f'next_excavator_id {next_excavator_id}')
+                        # self.logger.info(next_unload_area_value)
+                        next_unload_area_value *= self.group.group_walk_available[
+                                                  self.group.excavator_uuid_index_dict[next_excavator_id], :].flatten()
+
+                        # self.logger.info(next_unload_area_value)
+                        min_index = np.argmin(next_unload_area_value)
+                        next_unload_area_id = self.group.unload_area_uuid_index_dict.inverse[min_index]
+
+                        self.logger.info(f'目标卸点 {min_index} {next_unload_area_id}')
+                        # next_excavator_id = self.excavator_uuid_index_dict.inverse[truck_trip[-1]]
+
+                    truck_dispatch[i] = [next_excavator_id, next_unload_area_id]
+
                 except Exception as es:
-                    self.logger.error("车辆位置信息丢失")
+                    self.logger.error("空载车辆全智能模式-计算异常")
+                    self.logger.error(es.__traceback__.tb_lineno)
                     self.logger.error(es)
                     truck_dispatch[i] = [None, None]
-                    return
-                try:
-                    truck_is_temp = self.group.truck.truck_is_temp[i]
-                except Exception as es:
-                    truck_is_temp = False
-                    self.logger.error("车辆临时字段异常")
-                    self.logger.error(es)
-                self.logger.info(f'车辆位置 {truck_locate}')
-                self.logger.info(f'车辆状态 {self.group.truck.truck_current_state[i]}')
-                self.logger.info(f'车辆临时 {truck_is_temp} {type(truck_is_temp)}')
-                # 车辆当前位于交叉路口前，且排队等待
-                if (truck_locate in self.group.topo.cross_bf_lanes) and (self.group.truck.truck_current_state[i] == 2) \
-                        and (not truck_is_temp):
 
-                    # self.redispatch_to_dump(i, truck_dispatch, truck_locate, truck_trip)
-                    self.redispatcher.redispatch_to_dump(i, truck_dispatch, truck_locate, truck_trip)
-            else:
-                pass
+        # TODO：车辆在空载状态是否应该如何计算，是计算下一次卸载区还是继续计算当前最优挖机
 
     # def redispatch_to_dump(self, truck_id: str, truck_dispatch: Mapping[str, List[str]], truck_locate: str, truck_trip: List[int]):
     #     """
@@ -858,8 +861,7 @@ class ReDispatcher:
         #     current_load_area_id = DispatchInfo.excavator_load_dict[current_excavator_id]
         load_area_dict, load_area_lane_dict = self.group.topo.get_load_target_node_real(truck_locate,
                                                                                   current_load_area_id, True)
-        # TODO
-        # topo 放到 group 里面不太合理
+        # TODO：topo 放到 group 里面不太合理
 
         self.logger.info("所有可达装载区")
         self.logger.info(load_area_dict)

core/submit.py

@@ -121,8 +121,7 @@ class DispatchSubmission:
 
             record = redis_format(truck_id, group_id, str(uuid.uuid1()), item)
 
-            # TODO:
-            # 判断了两次是否拥堵，需要改善
+            # TODO: 判断了两次是否拥堵，需要改善
 
             if self.topo is not None:
 

gothrough/gothrough_digging.py

@@ -342,7 +342,8 @@ def truck_pass_first_area(truck_id, lane_id, closer_entrance_node_id, further_en
             size = len(que)
             for _ in range(size):
                 cur_node = que.popleft()
-                if cur_node is None: continue
+                if cur_node is None:
+                    continue
                 logger.info(cur_node)
                 if cur_node == closer_entrance_node_id:
                     logger.info("closer_entrance_node")

start.sh

 #!/bin/bash
+ps -ef|grep realtime_dispatch.py|grep -v grep |awk {'print $2'}
+kill -9 ps
 python3 topo_update_server.py
 nohup python3 realtime_dispatch.py --active >/dev/null 2>&1 &
\ No newline at end of file