增加穿越装载区距离判断，增加配置文件因子（暂时未启用）

config.json

@@ -28,7 +28,8 @@
     },
     "gothrough": {
         "closer_area_name": "哈装测试",
-        "further_area_name": "哈装2"
+        "further_area_name": "哈装2",
+        "factor" : 0.6
     },
     "geom": {
         "redispatch_minimal_distance": 40

core/group.py

@@ -562,40 +562,46 @@ class GroupDispatcher:
                     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}')
+                    cross_lane = self.gothroghdispatcher.update_lanes_info()
 
-                    from haversine import haversine
+                    # 获取车辆经纬度信息
+                    truck_prise_location = self.group.truck.truck_current_prise_location[truck_id]
 
-                    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}')
+                    if not is_close_to_cross(cross_lane, truck_prise_location):
+                        self.logger.info(f'距离过近无法触发穿越装载区调度')
 
-                    # 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}')
+                            # 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("穿越调度失败")
+                            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:
@@ -1306,6 +1312,8 @@ class GoThroughDispatcher:
         self.logger.info("cross_lane")
         self.logger.info(cross_lane)
 
+        return cross_lane
+
         # 截取远端入场点到交叉口的路段
         # self.further_area_backtrack_lanes = self.further_area_backtrack_lanes[
         #                                     0:self.further_area_backtrack_lanes.index(cross_lane)]

versiontag.py

@@ -6,4 +6,4 @@
 # @File : versiontag.py.py
 # @Software: PyCharm
 
-VERSION_TAG = '78'
+VERSION_TAG = '79'
\ No newline at end of file