增加二次调度

config.json

@@ -8,8 +8,7 @@
     },
     "mysql": {
         "host": "172.16.0.51",
-        "port": "3306",
-        "user": "root",
+          "user": "root",
         "password": "Huituo@123",
         "database": "ht_zhunneng"
     },

core/group.py

@@ -583,6 +583,7 @@ class GroupDispatcher:
 
         # 车辆位于装载区内, 调度车辆前往卸载区
         elif truck_task in [0, 1, 2]:
+            # 判断是否开启穿越装载区调度
             if truck_task == 0 and self.gothrough_active and truck_locate is not None:
                 self.logger.info("穿越装载区调度开启")
                 self.gothroghdispatcher.update_lanes_info()
@@ -605,15 +606,33 @@ class GroupDispatcher:
 
                 if excavator_prise_location[0] != -1 and \
                         truck_prise_location[0] != -1 and \
-                        haversine(excavator_prise_location, truck_prise_location) > 0.010 and \
+                        haversine(excavator_prise_location, truck_prise_location) > 0.000 and \
                         truck_locate in self.gothroghdispatcher.closer_area_backtrack_lanes:
                     self.gothroghdispatcher.redispatch_request(request_truck_id=truck_id, truck=self.group.truck, truck_dispatch=truck_dispatch)
+            # 判断是否开启二次调度
+            elif self.group.topo is not None and truck_locate is not None:
+                self.logger.info("潜在二次调度车辆状态")
+
+                # 车辆当前位于交叉路口前，且排队等待
+                self.logger.info(f'车辆 {truck_name}')
+                self.logger.info(f'车辆位置 {truck_locate}')
+                self.logger.info(f'车辆状态 {self.group.truck.truck_current_state[truck_id]}')
+                self.logger.info(f'车辆临时 {truck_is_temp}')
+                self.logger.info(self.group.topo.cross_bf_lanes)
+                self.logger.info(self.group.truck.truck_current_state)
+                if (truck_locate in self.group.topo.cross_bf_lanes) and (not truck_is_temp):
+                    self.logger.info("触发二次调度")
 
-                else:
-                    self.logger.info("正常空载行驶，执行空载周期调度")
-                    self.empty_period_dispatch(s, truck_dispatch, truck_id, truck_info, truck_trip)
+                    try:
+                        truck_info.redispatch =\
+                            self.redispatcher.redispatch_to_excavator(truck_id, truck_dispatch, truck_locate,
+                                                                  truck_trip, truck_info)
+                    except Exception as es:
+                        self.logger.error("二次调度至装载点失败")
+                        self.logger.error(es)
+            # 穿越调度和二次调度均不触发，正常空载调度
             else:
-                self.logger.info("装载区内，执行空载周期调度")
+                self.logger.info("正常空载行驶，执行空载周期调度")
                 self.empty_period_dispatch(s, truck_dispatch, truck_id, truck_info, truck_trip)
 
         # 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