二次调度适配新版地图

core/util.py

@@ -62,8 +62,11 @@ def get_cross_next_lanes(truck_locate):
     :return: lane_id list
     """
     next_lane_list = []
-    startNodeId = session_postgre.query(Lane).filter_by(Id=truck_locate).first().EndNodeId
+
     map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+
+    startNodeId = session_postgre.query(Lane).filter_by(FeatureId=truck_locate, MapVersion=map_version).first().EndNodeId
+
     for item in session_postgre.query(Lane).filter_by(StartNodeId=startNodeId, MapVersion=map_version).all():
         next_lane_list.append(str(item.Id))
         next_lane_end_node = item.EndNodeId
@@ -82,8 +85,10 @@ def is_close_to_cross(truck_locate, truck_prise_location):
     :return:
     """
     try:
-        start_node_id = session_postgre.query(Lane).filter_by(Id=truck_locate).first().EndNodeId
-        start_node_gemo = str(session_postgre.query(Node).filter_by(Id=start_node_id).first().geom)
+        map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+
+        start_node_id = session_postgre.query(Lane).filter_by(FeatureId=truck_locate, MapVersion=map_version).first().EndNodeId
+        start_node_gemo = str(session_postgre.query(Node).filter_by(FeatureId=start_node_id, MapVersion=map_version).first().geom)
         coess_pos_xy = wkb.loads(start_node_gemo)
         cross_pos = [coess_pos_xy.y, coess_pos_xy.x]
     except Exception as es:

gothrough/gothrough_digging.py

@@ -154,11 +154,14 @@ def redispatch_request():
         closer_excavator_state, further_excavator_state = get_excavator_state(closer_excavator_id), \
                                                           get_excavator_state(further_excavator_id)
 
+        map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+
         # 装载区入场点
-        closer_entrance_node_id = session_postgre.query(DiggingWorkArea).filter_by(Id=closer_area_id).first().EntranceNodeId
+        closer_entrance_node_id = session_postgre.query(DiggingWorkArea).filter_by(FeatureId=closer_area_id,
+            MapVersion=map_version).first().EntranceNodeId
 
-        further_entrance_node_id = session_postgre.query(DiggingWorkArea).filter_by(
-            Id=further_area_id).first().EntranceNodeId
+        further_entrance_node_id = session_postgre.query(DiggingWorkArea).filter_by(FeatureId=further_area_id,
+            MapVersion=map_version).first().EntranceNodeId
 
         logger.info("近端装载区入场点")
         logger.info(closer_entrance_node_id)
@@ -338,13 +341,13 @@ def truck_pass_first_area(truck_id, lane_id, closer_entrance_node_id, further_en
 
     # try:
 
+    map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+
     def backtracking(root_node):
 
         from collections import deque
         que = deque([root_node])
 
-        map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
-
         while que:
             size = len(que)
             for _ in range(size):
@@ -362,7 +365,7 @@ def truck_pass_first_area(truck_id, lane_id, closer_entrance_node_id, further_en
                     if item:
                         que.append(item.EndNodeId)
 
-    node_id = session_postgre.query(Lane).filter_by(Id=lane_id).first().EndNodeId
+    node_id = session_postgre.query(Lane).filter_by(FeatureId=lane_id, MapVersion=map_version).first().EndNodeId
 
     if backtracking(root_node=node_id) == 0:
         return True

graph/graph_load.py

@@ -16,6 +16,8 @@ def graph_construct():
     # 读取图节点
     cursor = c.execute("SELECT * FROM GRAPH_NODE")
 
+    map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+
     node_label = {}
     for row in cursor:
         node_label[row[1]] = row[2]
@@ -37,7 +39,7 @@ def graph_construct():
         lane_info = {}
 
         for item in lanes:
-            distance = session_postgre.query(Lane).filter_by(Id=item).first().Length
+            distance = session_postgre.query(Lane).filter_by(FeatureId=item, MapVersion=map_version).first().Length
             lane_info[item] = list([distance, distance])
 
         # 重构卸载路径拓扑图

graph/topo_graph.py

@@ -134,17 +134,19 @@ class Topo():
         trip = self.work_area_distance_info
         park_trip = self.park_distance_info
 
+        map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+
         for item in trip:
             # item = [[load_area_id, unload_area_id], to_unload_lanes, to_load_lanes]
             # path_node_for_trip= []
 
             # unload_G
             Exitnode_for_digging = str(
-                session_postgre.query(DiggingWorkArea).filter_by(Id=item[0][0]).first().ExitNodeId)
+                session_postgre.query(DiggingWorkArea).filter_by(FeatureId=item[0][0], MapVersion=map_version).first().ExitNodeId)
             digging_name = str(
-                session_postgre.query(DiggingWorkArea).filter_by(Id=item[0][0]).first().Name)
-            Entrancenode_for_dump = str(session_postgre.query(DumpArea).filter_by(Id=item[0][1]).first().EntranceNodeId)
-            dump_name = str(session_postgre.query(DumpArea).filter_by(Id=item[0][1]).first().Name)
+                session_postgre.query(DiggingWorkArea).filter_by(FeatureId=item[0][0], MapVersion=map_version).first().Name)
+            Entrancenode_for_dump = str(session_postgre.query(DumpArea).filter_by(FeatureId=item[0][1], MapVersion=map_version).first().EntranceNodeId)
+            dump_name = str(session_postgre.query(DumpArea).filter_by(FeatureId=item[0][1], MapVersion=map_version).first().Name)
             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)
 
@@ -164,17 +166,16 @@ class Topo():
             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)
+                    lane_startpoint = str(session_postgre.query(Lane).filter_by(FeatureId=lane_id, MapVersion=map_version).first().StartNodeId)
+                    lane_endpoint = str(session_postgre.query(Lane).filter_by(FeatureId=lane_id, MapVersion=map_version).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),
+                                              float(session_postgre.query(Lane).filter_by(FeatureId=lane_id, MapVersion=map_version).first().Length),
                                               lane_id])
                     # son_lane_num = sum(1 for truck_id in session_postgre.query(Lane).filter_by(StartNodeId = lane_endpoint).all())
-                    map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
                     son_lane_num = len(session_postgre.query(Lane).filter_by(StartNodeId=lane_endpoint, MapVersion=map_version).all())
 
                     # 可以添加的节点：分叉口或终点
@@ -216,11 +217,11 @@ class Topo():
 
             # load_G
             Entrancenode_for_digging = str(
-                session_postgre.query(DiggingWorkArea).filter_by(Id=item[0][0]).first().EntranceNodeId)
+                session_postgre.query(DiggingWorkArea).filter_by(FeatureId=item[0][0], MapVersion=map_version).first().EntranceNodeId)
             digging_name = str(
-                session_postgre.query(DiggingWorkArea).filter_by(Id=item[0][0]).first().Name)
-            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)
+                session_postgre.query(DiggingWorkArea).filter_by(FeatureId=item[0][0], MapVersion=map_version).first().Name)
+            Exitnode_for_dump = str(session_postgre.query(DumpArea).filter_by(FeatureId=item[0][1], MapVersion=map_version).first().ExitNodeId)
+            dump_name = str(session_postgre.query(DumpArea).filter_by(FeatureId=item[0][1], MapVersion=map_version).first().Name)
 
             logger.info(f'load route start dump name: %s' % dump_name)
             logger.info(f'load route end digging name: %s' % digging_name)
@@ -241,14 +242,13 @@ class Topo():
 
                 for lane_id in item[
                     2]:  # [[str(item.load_area_id), str(item.unload_area_id)], item.to_unload_lanes, item.to_load_lanes]
-                    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)
+                    lane_startpoint = str(session_postgre.query(Lane).filter_by(FeatureId=lane_id, MapVersion=map_version).first().StartNodeId)
+                    lane_endpoint = str(session_postgre.query(Lane).filter_by(FeatureId=lane_id, MapVersion=map_version).first().EndNodeId)
 
                     load_saved_lane.append([str(lane_startpoint), str(lane_endpoint),
-                                            float(session_postgre.query(Lane).filter_by(Id=lane_id).first().Length),
+                                            float(session_postgre.query(Lane).filter_by(FeatureId=lane_id, MapVersion=map_version).first().Length),
                                             lane_id])
                     # son_lane_num = sum(1 for truck_id in session_postgre.query(Lane).filter_by(StartNodeId = lane_endpoint).all())
-                    map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
                     son_lane_num = len(session_postgre.query(Lane).filter_by(StartNodeId=lane_endpoint, MapVersion=map_version).all())
 
                     logger.info(f'load route lane id: %s' % lane_id)
@@ -296,13 +296,13 @@ class Topo():
             try:
                 load_saved_lane = []
                 for i in k[1]:
-                    load_i_startpoint = str(session_postgre.query(Lane).filter_by(Id=i).first().StartNodeId)
-                    load_i_endpoint = str(session_postgre.query(Lane).filter_by(Id=i).first().EndNodeId)
+                    load_i_startpoint = str(session_postgre.query(Lane).filter_by(FeatureId=i, MapVersion=map_version).first().StartNodeId)
+                    load_i_endpoint = str(session_postgre.query(Lane).filter_by(FeatureId=i, MapVersion=map_version).first().EndNodeId)
 
                     load_saved_lane.append([str(load_i_startpoint), str(load_i_endpoint),
-                                            float(session_postgre.query(Lane).filter_by(Id=i).first().Length), i])
+                                            float(session_postgre.query(Lane).filter_by(FeatureId=i, MapVersion=map_version).first().Length), i])
                     # son_lane_num = sum(1 for truck_id in session_postgre.query(Lane).filter_by(StartNodeId = load_i_endpoint).all())
-                    map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+                    # map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
                     son_lane_num = len(session_postgre.query(Lane).filter_by(StartNodeId=load_i_endpoint, MapVersion=map_version).all())
 
                     logger.info(f'park route lane id: %s' % i)
@@ -367,6 +367,7 @@ class Topo():
 
     def get_unload_target_node_real(self, truck_location_lane, pre_target, allow):
 
+        map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
         source_node = self.get_unload_edge_node(truck_location_lane)
         target_list = []
 
@@ -392,7 +393,7 @@ class Topo():
                 distance, path = nx.single_source_dijkstra(self.unload_G, source=source_node, target=i,
                                                            weight="real_distance")
 
-                unload_area_id = session_postgre.query(DumpArea).filter_by(Id=unload_area_id).first(
+                unload_area_id = session_postgre.query(DumpArea).filter_by(FeatureId=unload_area_id, MapVersiojn=map_version).first(
                     EntranceNodeId=i).first().Id
                 unload_area_lane_dict[str(unload_area_id)] = []
                 for j in range(len(path) - 1):
@@ -407,7 +408,7 @@ class Topo():
         # return the target area's entrance point and target area
         min_dis_path = path_length_map[sorted(list(path_length_map.keys()))[0]]
         entrance_point = min_dis_path[-1]
-        map_version = session_postgre.query(Distribute_Library).filter_by(Status="1").first().Version
+
         target_dump_area = str(session_postgre.query(DumpArea).filter_by(EntranceNodeId=entrance_point, MapVersion=map_version).first().Id)
         # target_dump_area_name = str(session_postgre.query(DumpArea).filter_by(EntranceNodeId=entrance_point).first().Name)
 
@@ -482,7 +483,7 @@ class Topo():
 
         # update target_list
         pre_destination_node = str(
-            session_postgre.query(DiggingWorkArea).filter_by(Id=pre_target).first().EntranceNodeId)
+            session_postgre.query(DiggingWorkArea).filter_by(FeatureId=pre_target, MapVersion=map_version).first().EntranceNodeId)
         target_list = []
         for (node, att) in self.load_G.nodes.data('name'):
             # select next reachable target