add comment to topo generate module

graph/topo_graph.py

@@ -7,6 +7,7 @@ import time
 import matplotlib.pyplot as plt
 # from path_plan.path_plannner import *
 import networkx as nx
+from settings import *
 
 
 class Topo():
@@ -145,6 +146,9 @@ class Topo():
             self.unload_G.add_node(Exitnode_for_digging, name='digging', type=digging_name)
             self.unload_G.add_node(Entrancenode_for_dump, name='group_dumps', type=dump_name)
 
+            logger.info(f'unload route start digging name: %s' % digging_name)
+            logger.info(f'unload route end dump name: %s' % dump_name)
+
             # path_node_for_trip.append(Exitnode_for_digging) # add start node for trip
 
             # find the exitnodeid for diggingarea, find the entrancenodeid for dumparea
@@ -154,12 +158,15 @@ class Topo():
             if Entrancenode_for_dump not in self.unload_G_all_nodes:
                 self.unload_G_all_nodes.append(Entrancenode_for_dump)
                 self.unload_G_dump_nodes.append(Entrancenode_for_dump)
+
             try:
                 unload_saved_lane = []
                 for lane_id in item[1]:  # for each lane in a to_unload route
                     lane_startpoint = str(session_postgre.query(Lane).filter_by(Id=lane_id).first().StartNodeId)
                     lane_endpoint = str(session_postgre.query(Lane).filter_by(Id=lane_id).first().EndNodeId)
 
+                    logger.info(f'unload route lane id: %s' % lane_id)
+
                     # add [start_point, end_point, length, lane_id] to unload_saved_lane
                     unload_saved_lane.append([str(lane_startpoint), str(lane_endpoint),
                                               float(session_postgre.query(Lane).filter_by(Id=lane_id).first().Length),
@@ -184,6 +191,10 @@ class Topo():
                                                locked_distance=sum(value[1] for value in lanes.values()), lane=lanes)
                         self.unload_G.add_node(unload_saved_lane[0][0])
                         self.unload_G.add_node(unload_saved_lane[-1][1])
+
+                        logger.info(f'unload route cross node: %s' % unload_saved_lane[0][0])
+                        logger.info(f'unload route cross node: %s' % unload_saved_lane[-1][1])
+
                         # self.unload_G_land_edges_map[lanes] = [unload_saved_lane[0][0], unload_saved_lane[-1][1]]
                         # if [unload_saved_lane[0][0], unload_saved_lane[-1][1]] not in self.unload_G_edges:
                         #     self.unload_G_edges.append([unload_saved_lane[0][0], unload_saved_lane[-1][1]])
@@ -208,6 +219,9 @@ class Topo():
             Exitnode_for_dump = str(session_postgre.query(DumpArea).filter_by(Id=item[0][1]).first().ExitNodeId)
             dump_name = str(session_postgre.query(DumpArea).filter_by(Id=item[0][1]).first().Name)
 
+            logger.info(f'load route start dump name: %s' % dump_name)
+            logger.info(f'load route end digging name: %s' % digging_name)
+
             # find the exit node_id for digging_area, entrance node_id for dumparea,
             if Exitnode_for_dump not in self.load_G_all_nodes:
                 self.load_G_all_nodes.append(Exitnode_for_dump)
@@ -233,6 +247,8 @@ class Topo():
                     # son_lane_num = sum(1 for truck_id in session_postgre.query(Lane).filter_by(StartNodeId = lane_endpoint).all())
                     son_lane_num = len(session_postgre.query(Lane).filter_by(StartNodeId=lane_endpoint).all())
 
+                    logger.info(f'load route lane id: %s' % lane_id)
+
                     nodes = list(self.load_G.nodes)
                     # 可以添加的节点：分叉口或终点
                     if son_lane_num > 1 or lane_endpoint in self.load_G_digging_nodes or lane_endpoint in nodes:
@@ -250,6 +266,10 @@ class Topo():
                                              locked_distance=sum(value[-1] for value in lanes.values()), lane=lanes)
                         self.load_G.add_node(load_saved_lane[0][0])
                         self.load_G.add_node(load_saved_lane[-1][1])
+
+                        logger.info(f'load route cross node: %s' % load_saved_lane[0][0])
+                        logger.info(f'load route cross node: %s' % load_saved_lane[-1][1])
+
                         # self.load_G_land_edges_map[lanes] = [load_saved_lane[0][0], load_saved_lane[-1][1]]
                         # if [load_saved_lane[0][0], load_saved_lane[-1][1]] not in self.load_G_edges:
                         #     self.load_G_edges.append([load_saved_lane[0][0], load_saved_lane[-1][1]])
@@ -268,7 +288,6 @@ class Topo():
 
         # park_to_load_G
 
-
         for k in park_trip:
             try:
                 load_saved_lane = []
@@ -281,6 +300,8 @@ class Topo():
                     # son_lane_num = sum(1 for truck_id in session_postgre.query(Lane).filter_by(StartNodeId = load_i_endpoint).all())
                     son_lane_num = len(session_postgre.query(Lane).filter_by(StartNodeId=load_i_endpoint).all())
 
+                    logger.info(f'park route lane id: %s' % i)
+
                     nodes = list(self.load_G.nodes)
                     # 可以添加的节点：分叉口或终点
                     if son_lane_num > 1 or load_i_endpoint in self.load_G_digging_nodes or load_i_endpoint in nodes:
@@ -298,6 +319,10 @@ class Topo():
                                              locked_distance=sum(value[-1] for value in lanes.values()), lane=lanes)
                         self.load_G.add_node(load_saved_lane[0][0])
                         self.load_G.add_node(load_saved_lane[-1][1])
+
+                        logger.info(f'park route cross node: %s' % load_saved_lane[0][0])
+                        logger.info(f'park route cross node: %s' % load_saved_lane[-1][1])
+
                         # self.load_G_land_edges_map[lanes] = [load_saved_lane[0][0], load_saved_lane[-1][1]]
                         # if [load_saved_lane[0][0], load_saved_lane[-1][1]] not in self.load_G_edges:
                         #     self.load_G_edges.append([load_saved_lane[0][0], load_saved_lane[-1][1]])

realtime_dispatch.py

@@ -166,4 +166,4 @@ if __name__ == "__main__":
     logger.info(" ")
     logger.info("调度系统启动")
 
-    main(20, dispatcher)
+    main(30, dispatcher)