#!E:\Pycharm Projects\Waytous
# -*- coding: utf-8 -*-
# @Time : 2021/7/21 16:45
# @Author : Opfer
# @Site :
# @File : realtime_dispatch.py
# @Software: PyCharm


# 实时调度模块

from traffic_flow.traffic_flow_info import *
from traffic_flow.traffic_flow_planner import *
from path_plan.path_plannner import *
from para_config import *
from equipment.excavator import ExcavatorInfo
from equipment.dump import DumpInfo
from equipment.truck import TruckInfo

truck = TruckInfo()
excavator = ExcavatorInfo()
dump = DumpInfo()



# 调度类
class Dispatcher(WalkManage):
    def __init__(self):

        # 模拟挖机/卸载设备产量(防止调度修改真实产量)
        self.sim_dump_real_mass = np.zeros(dump.get_dump_num())
        self.sim_excavator_real_mass = np.zeros(excavator.get_excavator_num())
        # 真实设备可用时间
        self.cur_truck_reach_dump = np.zeros(truck.get_truck_num())
        self.cur_truck_reach_excavator = np.zeros(truck.get_truck_num())
        self.cur_excavator_ava_time = np.zeros(excavator.get_excavator_num())
        self.cur_dump_ava_time = np.zeros(dump.get_dump_num())
        # 卡车完成装载及卸载时间(矿卡可用时间)
        self.cur_truck_ava_time = np.zeros(truck.get_truck_num())
        # 模拟矿卡可用时间
        self.sim_truck_ava_time = np.zeros(truck.get_truck_num())
        # 模拟各设备可用时间(防止调度修改真实产量)
        self.sim_excavator_ava_time = np.zeros(excavator.get_excavator_num())
        self.sim_dump_ava_time = np.zeros(dump.get_dump_num())
        # 挖机/卸载设备预计产量(包含正在驶往挖机/卸载设备那部分矿卡的载重)
        self.pre_dump_real_mass = np.zeros(dump.get_dump_num())
        self.pre_excavator_real_mass = np.zeros(excavator.get_excavator_num())

        # 维护一个矿卡调度表
        self.Seq = [[] for _ in range(truck.get_truck_num())]
        # 调度开始时间
        self.start_time = datetime.now()
        # self.relative_now_time = datetime.now() - self.start_time

        # 下面是交通流调度部分
        # 驶往挖机的实际车流
        self.actual_goto_excavator_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )
        # 驶往卸载设备的实际车流
        self.actual_goto_dump_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )

        # 驶往挖机的实际车次
        self.goto_dump_truck_num = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )
        # 驶往卸载设备的实际车次
        self.goto_excavator_truck_num = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )

        # 驶往挖机的理想车流
        self.opt_goto_dump_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )
        # 驶往卸载设备的实际车流
        self.opt_goto_excavator_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )
        self.path = PathPlanner()


        # 设备数量
        self.dump = get_value("dynamic_dump_num")
        self.excavator = get_value("dynamic_excavator_num")
        self.truck = get_value("dynamic_truck_num")
        # 目标产量
        self.dump_target_mass = np.zeros(self.dump)
        self.excavator_target_mass = np.zeros(self.excavator)
        # 真实实际产量
        self.cur_dump_real_mass = np.zeros(self.dump)
        self.cur_excavator_real_mass = np.zeros(self.excavator)
        # 预计产量（包含正在驶往目的地的矿卡载重）
        self.pre_dump_real_mass = copy.deepcopy(self.cur_dump_real_mass)
        self.pre_excavator_real_mass = copy.deepcopy(self.cur_excavator_real_mass)
        # 模拟实际产量(防止调度修改真实产量)
        self.sim_dump_real_mass = np.zeros(self.dump)
        self.sim_excavator_real_mass = np.zeros(self.excavator)

        self.excavator_uuid_to_index_dict = excavator.excavator_uuid_to_index_dict
        self.dump_uuid_to_index_dict = dump.dump_uuid_to_index_dict


    # 更新矿卡预计抵达目的地时间
    def update_truck_reach_time(self):
        try:
            dynamic_excavator_num = excavator.get_excavator_num()
            dumps = dump.get_dump_num()
            trucks = truck.get_truck_num()

            truck_current_task = truck.get_truck_current_task()

            truck_current_trip = truck.get_truck_current_trip()

            cur_truck_reach_excavator = truck.get_truck_reach_excavator()

            cur_truck_reach_dump = truck.get_truck_reach_dump()

            excavator_ava_ls = [[] for _ in range(dynamic_excavator_num)]
            dump_ava_ls = [[] for _ in range(dumps)]
            for i in range(trucks):
                task = truck_current_task[truck.truck_index_to_uuid_dict[i]]
                end_area_index = truck_current_trip[i][1]
                if task in [0, 1]:
                    reach_time = cur_truck_reach_excavator[i]
                    excavator_ava_ls[end_area_index].append(
                        [reach_time, i, end_area_index]
                    )
                elif task in [3, 4]:
                    reach_time = cur_truck_reach_dump[i]
                    dump_ava_ls[end_area_index].append([reach_time, i, end_area_index])
                elif task == -2:
                    self.cur_truck_ava_time[i] = (
                        datetime.now() - self.start_time
                    ) / timedelta(hours=0, minutes=1, seconds=0)

            # print(truck_index_to_uuid_dict)
            # print(excavator_ava_ls)
            # print(dump_ava_ls)
        except Exception as es:
            logger.error("矿卡预计抵达时间计算异常")
            logger.error(es)

        return excavator_ava_ls, dump_ava_ls

    # 更新挖机预计可用时间
    def update_excavator_ava_time(self, excavator_ava_ls):

        # 初始化挖机可用时间
        self.cur_excavator_ava_time = np.full(
            get_value("dynamic_excavator_num"),
            (datetime.now() - self.start_time)
            / timedelta(hours=0, minutes=1, seconds=0),
        )

        loading_time = excavator.get_loading_time()

        loading_task_time = excavator.get_loading_task_time()

        try:

            now = float(
                (datetime.now() - self.start_time)
                / timedelta(hours=0, minutes=1, seconds=0)
            )

            for reach_ls in excavator_ava_ls:
                if len(reach_ls) != 0:
                    reach_ls = np.array(reach_ls)
                    tmp = reach_ls[np.lexsort(reach_ls[:, ::-1].T)]
                    for i in range(len(tmp)):
                        excavator_index = int(tmp[i][2])
                        self.cur_excavator_ava_time[excavator_index] = (
                            max(tmp[i][0], self.cur_excavator_ava_time[excavator_index])
                            + loading_task_time[excavator_index]
                        )
                        self.cur_truck_ava_time[
                            int(tmp[i][1])
                       ] = self.cur_excavator_ava_time[excavator_index]

                        # # 若挖机可用时间严重偏离，进行修正
                        # if abs(self.cur_excavator_ava_time[excavator_index] - now) > 60:
                        #     self.cur_truck_ava_time[int(tmp[i][1])] = now
                        # if abs(self.cur_excavator_ava_time[excavator_index] - now) > 60:
                        #     self.cur_excavator_ava_time[excavator_index] = now
        except Exception as es:
            logger.error("挖机可用时间计算异常")
            logger.error(es)

    # 更新卸载设备预计可用时间
    def update_dump_ava_time(self, dump_ava_ls):

        dynamic_dump_num = dump.get_dump_num()

        # 初始化卸载设备可用时间
        self.cur_dump_ava_time = np.full(
            dynamic_dump_num,
            (datetime.now() - self.start_time)
            / timedelta(hours=0, minutes=1, seconds=0),
        )

        unloading_time = dump.get_unloading_time()

        unloading_task_time = dump.get_unloading_task_time()

        try:

            now = float(
                (datetime.now() - self.start_time)
                / timedelta(hours=0, minutes=1, seconds=0)
            )

            for reach_ls in dump_ava_ls:
                if len(reach_ls) != 0:
                    reach_ls = np.array(reach_ls)
                    tmp = reach_ls[np.lexsort(reach_ls[:, ::-1].T)]
                    for i in range(len(tmp)):
                        dump_index = int(tmp[i][2])
                        self.cur_dump_ava_time[dump_index] = (
                            max(tmp[i][0], self.cur_dump_ava_time[dump_index])
                            + unloading_task_time[dump_index]
                        )
                        self.cur_truck_ava_time[
                            int(tmp[i][1])
                        ] = self.cur_dump_ava_time[dump_index]

                        # # 若卸载设备可用时间严重偏离，进行修正
                        # if abs(self.cur_dump_ava_time[dump_index] - now) > 60:
                        #     self.cur_dump_ava_time[dump_index] = now
                        # if abs(self.cur_truck_ava_time[int(tmp[i][1])] - now) > 60:
                        #     self.cur_truck_ava_time[int(tmp[i][1])] = now
        except Exception as es:
            logger.error("卸载设备可用时间计算异常")
            logger.error(es)

    # 更新实际交通流
    def update_actual_traffic_flow(self):

        loading_task_time = excavator.get_loading_task_time()

        unloading_task_time = dump.get_unloading_task_time()

        truck_current_task = truck.get_truck_current_task()
        truck_current_trip = truck.get_truck_current_trip()
        payload = truck.get_payload()

        dynamic_dump_num = dump.get_dump_num()
        dynamic_excavator_num = excavator.get_excavator_num()

        self.goto_dump_truck_num = np.zeros((dynamic_excavator_num, dynamic_dump_num))
        self.actual_goto_dump_traffic_flow = np.zeros(
            (dynamic_excavator_num, dynamic_dump_num)
        )
        self.goto_excavator_truck_num = np.zeros(
            (dynamic_dump_num, dynamic_excavator_num)
        )
        self.actual_goto_excavator_traffic_flow = np.zeros(
            (dynamic_dump_num, dynamic_excavator_num)
        )

        try:

            for i in range(dynamic_truck_num):
                task = truck_current_task[truck.truck_index_to_uuid_dict[i]]
                end_area_index = truck_current_trip[i][1]
                start_area_index = truck_current_trip[i][0]

                if task in heavy_task_set:
                    self.goto_dump_truck_num[start_area_index][end_area_index] += 1
                    self.actual_goto_dump_traffic_flow[start_area_index][end_area_index] += float(payload[i])

                # logger.info("debug2")

                if task in empty_task_set:
                    self.goto_excavator_truck_num[start_area_index][end_area_index] += 1
                    self.actual_goto_excavator_traffic_flow[start_area_index][end_area_index] += float(payload[i])


            self.actual_goto_dump_traffic_flow = self.actual_goto_dump_traffic_flow / (
                self.distance_to_dump.reshape(dynamic_excavator_num, dynamic_dump_num)
                / (1000 * empty_speed)
                + np.expand_dims(unloading_task_time, axis=0).repeat(
                    dynamic_excavator_num, axis=0
                )
            )

            self.actual_goto_excavator_traffic_flow = (
                self.actual_goto_excavator_traffic_flow
                / (
                    self.distance_to_excavator.reshape(
                        dynamic_dump_num, dynamic_excavator_num
                    )
                    / (1000 * heavy_speed)
                    + np.expand_dims(loading_task_time, axis=0).repeat(
                        dynamic_dump_num, axis=0
                    )
                )
            )

            logger.info("self.goto_dump_truck_num")
            logger.info(self.goto_dump_truck_num)

            logger.info("self.actual_goto_dump_traffic_flow")
            logger.info(self.actual_goto_dump_traffic_flow)

            logger.info("self.goto_excavator_truck_num")
            logger.info(self.goto_excavator_truck_num)

            logger.info("self.actual_goto_excavator_traffic_flow")
            logger.info(self.actual_goto_excavator_traffic_flow)

        except Exception as es:
            logger.error("未知错误001")
            logger.error(es)

        # print("驶往卸点实际载重")
        # print(self.actual_goto_dump_traffic_flow)
        # print("卸点路段行驶时间(h)")
        # print((self.distance_to_dump.reshape(dynamic_excavator_num, dynamic_dump_num) / (1000 * empty_speed)))
        # print("驶往卸点实际车流")
        # print(self.actual_goto_dump_traffic_flow)

        logger.info("驶往卸点实际载重")
        logger.info(self.actual_goto_dump_traffic_flow)
        logger.info("卸点路段行驶时间(h)")
        logger.info(
            (
                self.distance_to_dump.reshape(dynamic_excavator_num, dynamic_dump_num)
                / (1000 * empty_speed)
            )
        )
        logger.info("驶往卸点实际车流")
        logger.info(self.actual_goto_dump_traffic_flow)
        logger.info("________________loading_task_time__________")
        logger.info(loading_task_time)

        # self.actual_goto_excavator_traffic_flow = (
        #     self.actual_goto_excavator_traffic_flow
        #     / (
        #         self.distance_to_excavator.reshape(
        #             dynamic_dump_num, dynamic_excavator_num
        #         )
        #         / (1000 * heavy_speed)
        #         + np.expand_dims(loading_task_time, axis=0).repeat(
        #             dynamic_dump_num, axis=0
        #         )
        #     )
        # )

        # print("驶往挖机实际载重")
        # print(self.actual_goto_excavator_traffic_flow)
        # print("挖机路段行驶时间(h)")
        # print((self.distance_to_excavator.reshape(dynamic_excavator_num, dynamic_dump_num) / (1000 * heavy_speed)))
        # print("驶往挖机实际车流")
        # print(self.actual_goto_excavator_traffic_flow)

        logger.info("驶往挖机实际载重")
        logger.info(self.actual_goto_excavator_traffic_flow)
        logger.info("挖机路段行驶时间(h)")
        logger.info(
            (
                self.distance_to_excavator.reshape(
                    dynamic_excavator_num, dynamic_dump_num
                )
                / (1000 * heavy_speed)
            )
        )
        logger.info("驶往挖机实际车流")
        logger.info(self.actual_goto_excavator_traffic_flow)


    def Saturation_transport_value(self):
        # dump_target_mass = 5000
        # excavator_target_mass = 5000
        self.cur_excavator_real_mass = np.zeros(self.excavator)
        self.cur_dump_real_mass = np.zeros(self.dump)

        # traf_para = Traffic_para(self.excavator, self.dump, self.excavator, self.dump)
        num_load = len(set(update_load_area()))
        num_unload = len(set(update_unload_area()))
        traf_para = Traffic_para(num_load, num_unload, self.excavator, self.dump)

        self.excavator_target_mass = traf_para.get_target_excavator_mass()
        self.dump_target_mass = traf_para.get_target_dump_mass()

        self.excavator_uuid_to_index_dict = excavator.excavator_uuid_to_index_dict
        now = datetime.now().strftime('%Y-%m-%d')

        # 读取实时装卸量, 写入目标装卸量
        for excavator_id in self.excavator_uuid_to_index_dict.keys():
            # print(excavator_id)
            for query in session_mysql.query(LoadInfo). \
                    join(Equipment, LoadInfo.dump_id == Equipment.equipment_id). \
                    filter(Equipment.id == excavator_id, LoadInfo.time > now). \
                    order_by(LoadInfo.time.desc()).all():
                self.cur_excavator_real_mass[self.excavator_uuid_to_index_dict[excavator_id]] += query.load_weight

        for dump_id in self.dump_uuid_to_index_dict.keys():
            # print(excavator_id)
            for query in session_mysql.query(LoadInfo). \
                    join(Equipment, LoadInfo.dump_id == Equipment.equipment_id). \
                    filter(Equipment.id == dump_id, LoadInfo.time > now). \
                    order_by(LoadInfo.time.desc()).all():
                self.cur_dump_real_mass[self.dump_uuid_to_index_dict[dump_id]] += query.load_weight

        # # 卸载目标产量
        # # self.dump_target_mass = (np.array(session_mysql.query(Dump.target_mass).all())).flatten()
        # self.dump_target_mass = np.full(self.dump, dump_target_mass)
        #
        # # 挖机目标产量
        # # self.excavator_target_mass = (np.array(session_mysql.query(Excavator.target_mass).all())).flatten()
        # self.excavator_target_mass = np.full(self.excavator, excavator_target_mass)

        # logger.info(f'卸点饱和度：{(1 - self.sim_dump_real_mass / self.dump_target_mass)}')
        # logger.info(f'电铲饱和度：{(1 - self.sim_excavator_real_mass / self.excavator_target_mass)}')
        return self.sim_dump_real_mass, self.sim_dump_real_mass, \
               self.dump_target_mass, self.excavator_target_mass


    def para_period_update(self):

        logger.info("#####################################周期更新开始#####################################")

        # 装载映射参数及
        self.period_map_para_load()

        self.period_walk_para_load()

        # 更新卸载设备对象
        dump.para_period_update()

        # 更新挖机对象
        excavator.para_period_update()

        # 更新矿卡对象
        truck.para_period_update()

    def state_period_update(self):
        # try:

        truck.state_period_update()

        # 更新实时车流
        self.update_actual_traffic_flow()

        # 计算理想车流
        (self.opt_goto_dump_traffic_flow, self.opt_goto_excavator_traffic_flow,) = traffic_flow_plan()
        print("输出理想车流")
        print(self.opt_goto_dump_traffic_flow, self.opt_goto_excavator_traffic_flow,)
        # 矿卡抵达时间
        excavator_reach_list, dump_reach_list = self.update_truck_reach_time()

        # 挖机可用时间
        self.update_excavator_ava_time(excavator_reach_list)

        # 卸载设备可用时间
        self.update_dump_ava_time(dump_reach_list)

        self.cost_to_excavator, self.cost_to_dump, self.cost_park_to_excavator = self.path.walk_cost()

        # except Exception as es:
        #     logger.error("周期更新异常")
        #     logger.error(es)


    def sim_para_reset(self):

        # 设备可用时间重置
        self.sim_truck_ava_time = copy.deepcopy(self.cur_truck_ava_time)
        self.sim_excavator_ava_time = copy.deepcopy(self.cur_excavator_ava_time)
        self.sim_dump_ava_time = copy.deepcopy(self.cur_dump_ava_time)

    def reset(self):
        # 模拟挖机/卸载设备产量(防止调度修改真实产量)
        self.sim_dump_real_mass = np.zeros(dump.get_dump_num())
        self.sim_excavator_real_mass = np.zeros(excavator.get_excavator_num())
        # 真实设备可用时间
        self.cur_truck_reach_dump = np.zeros(truck.get_truck_num())
        self.cur_truck_reach_excavator = np.zeros(truck.get_truck_num())
        self.cur_excavator_ava_time = np.zeros(excavator.get_excavator_num())
        self.cur_dump_ava_time = np.zeros(dump.get_dump_num())
        # 卡车完成装载及卸载时间(矿卡可用时间)
        self.cur_truck_ava_time = np.zeros(truck.get_truck_num())
        # 模拟矿卡可用时间
        self.sim_truck_ava_time = np.zeros(truck.get_truck_num())
        # 模拟各设备可用时间(防止调度修改真实产量)
        self.sim_excavator_ava_time = np.zeros(excavator.get_excavator_num())
        self.sim_dump_ava_time = np.zeros(dump.get_dump_num())
        # 挖机/卸载设备预计产量(包含正在驶往挖机/卸载设备那部分矿卡的载重)
        self.pre_dump_real_mass = np.zeros(dump.get_dump_num())
        self.pre_excavator_real_mass = np.zeros(excavator.get_excavator_num())

        # 维护一个矿卡调度表
        self.Seq = [[] for _ in range(truck.get_truck_num())]

        # 下面是交通流调度部分
        # 驶往挖机的实际车流
        self.actual_goto_excavator_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )
        # 驶往卸载设备的实际车流
        self.actual_goto_dump_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )

        # 驶往挖机的实际车次
        self.goto_dump_truck_num = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )
        # 驶往卸载设备的实际车次
        self.goto_excavator_truck_num = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )

        # 驶往挖机的理想车流
        self.opt_goto_dump_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )
        # 驶往卸载设备的实际车流
        self.opt_goto_excavator_traffic_flow = np.zeros(
            (dump.get_dump_num(), excavator.get_excavator_num())
        )

    def truck_schedule(self, truck_id):

        rule3 = session_mysql.query(DispatchRule).filter_by(id=3).first().disabled
        rule4 = session_mysql.query(DispatchRule).filter_by(id=4).first().disabled

        # cost_to_excavator, cost_to_dump, cost_park_to_excavator = self.path.walk_cost()

        excavator_priority_coefficient = excavator.excavator_priority_coefficient

        excavator_material_priority = excavator.excavator_material_priority

        # 矿卡对应序号
        truck_index = truck.truck_uuid_to_index_dict[truck_id]
        # 矿卡行程
        trip = truck.get_truck_current_trip()[truck_index]
        # 矿卡当前任务
        task = truck.get_truck_current_task()[truck.truck_index_to_uuid_dict[truck_index]]
        # 挖机装载时间
        loading_time = excavator.get_loading_time()
        # 路网信息
        walk_time_park_to_excavator = walk_manage.get_walk_time_park_to_excavator() \
                                      * (empty_speed / float(truck.empty_speed[truck_id]))

        dynamic_dump_num = dump.get_dump_num()
        dynamic_excavator_num = excavator.get_excavator_num()

        now = float(
            (datetime.now() - self.start_time)
            / timedelta(hours=0, minutes=1, seconds=0))

        logger.info("==========================================================")
        logger.info(f"调度矿卡 {truck_id} {truck_index} {truck_uuid_to_name_dict[truck_id]}")

        target = 0

        (cur_dump_mass, cur_excavator_mass, \
        target_dump_mass, target_excavator_mass) = self.Saturation_transport_value()
        # self.sim_dump_real_mass, self.sim_dump_real_mass, \
        # self.excavator_target_mass, self.dump_target_mass

        if task == -2:
            try:
                logger.info("矿卡状态：矿卡启动或故障恢复")
                logger.info("矿卡行程：无")
                logger.info(f"涉及挖机：{list(excavator.excavator_uuid_to_index_dict.keys())}")
                logger.info(
                    f"行程时间：{(np.maximum(self.sim_excavator_ava_time, now + walk_time_park_to_excavator[0, :]) + loading_time - now)}")
                logger.info(f"行驶时间：{walk_time_park_to_excavator[0, :] + loading_time}")
                logger.info("物料类型")
                if truck_id in truck.truck_material_bind:
                    logger.info(truck.truck_material_bind[truck_id])
                logger.info("挖机物料优先级")
                logger.info(excavator_material_priority)
                logger.info("挖机设备优先级")
                logger.info(excavator_priority_coefficient)

            except Exception as es:
                logger.error(f"矿卡{truck_id}状态不匹配")
                logger.error(es)

            if truck_id in truck.truck_excavator_bind:
                target = excavator.excavator_uuid_to_index_dict[truck.truck_excavator_bind[truck_id]]
            else:
                transport_value = self.cost_park_to_excavator

                print("self.cost_park_to_excavator",  self.cost_park_to_excavator)

                logger.info("transport_value")
                logger.info(transport_value)
                target = np.argmin(
                    transport_value
                    + truck.excavator_exclude_modify[truck_index]
                    + truck.excavator_material_bind_modify[truck_index])

            print("excavator.excavator_index_to_uuid_dict", excavator.excavator_index_to_uuid_dict)
            logger.info(f"目的地：{excavator.excavator_index_to_uuid_dict[target]}")

        if task in [0, 1, 2]:
            try:
                logger.info("矿卡状态：矿卡空载")
                logger.info(f"涉及卸载设备：{list(dump.dump_uuid_to_index_dict.keys())}")
            except Exception as es:
                logger.error(f"矿卡{truck_id}状态不匹配")
                logger.error(es)

            try:
                assert np.array(self.actual_goto_dump_traffic_flow).shape == (
                    dynamic_excavator_num,
                    dynamic_dump_num,)
                assert np.array(self.opt_goto_dump_traffic_flow).shape == (
                    dynamic_excavator_num,
                    dynamic_dump_num,)
            except Exception as es:
                logger.warning(es)
                self.actual_goto_dump_traffic_flow = np.array(
                    self.actual_goto_dump_traffic_flow).reshape((dynamic_excavator_num, dynamic_dump_num))
                self.opt_goto_dump_traffic_flow = np.array(
                    self.opt_goto_dump_traffic_flow).reshape((dynamic_excavator_num, dynamic_dump_num))

            self.actual_goto_dump_traffic_flow = np.array(self.actual_goto_dump_traffic_flow)
            self.opt_goto_dump_traffic_flow = np.array(self.opt_goto_dump_traffic_flow)

            try:
                logger.info("挖机id:")
                logger.info(excavator.excavator_uuid_to_index_dict)
                logger.info("卸点id:")
                logger.info(dump.dump_uuid_to_index_dict)
                logger.info(f"卸载点实际车流:")
                logger.info(self.actual_goto_dump_traffic_flow)
                logger.info(f"卸载点理想车流:")
                logger.info(self.opt_goto_dump_traffic_flow)

                logger.info("卸载点实际车流")
                logger.info(self.actual_goto_dump_traffic_flow[int(trip[1]), :])
                logger.info("卸载点理想车流")
                logger.info(self.opt_goto_dump_traffic_flow[int(trip[1]), :])


                logger.info("空载trip")
                logger.info(trip)
                logger.info("物料类型")
                if truck_id in truck.truck_material_bind:
                    logger.info(truck.truck_material_bind[truck_id])
                logger.info("驶往卸点的运输成本")
                logger.info(self.cost_to_dump)
                logger.info("卸点物料修正")
                logger.info(truck.dump_material_bind_modify)

            except Exception as es:
                logger.info("车流及修正因子")
                logger.info(es)

            if truck_id in truck.truck_dump_bind:
                bind_unload_area_id = truck.truck_dump_bind[truck_id]
                for key, value in dump.dump_index_to_unload_area_index_dict.items():
                    if value == unload_area_uuid_to_index_dict[bind_unload_area_id]:
                        target = key
                        break
            else:
                if rule3 and rule4:
                    transport_value = self.cost_to_dump[:, int(trip[1])]

                else:
                    # transport_value = (self.actual_goto_dump_traffic_flow[int(trip[1]), :] + 0.001) \
                    #                 / (self.opt_goto_dump_traffic_flow[int(trip[1]), :] + 0.001)
                    transport_value = cur_dump_mass/ target_dump_mass
                    logger.info("transport_value")
                    logger.info(transport_value)
                    logger.info("dump_material_bind_modify")
                    logger.info(truck.dump_material_bind_modify[truck_index])


                target = np.argmin(transport_value + truck.dump_material_bind_modify[truck_index])
            logger.info("车流比:")
            logger.info((self.actual_goto_dump_traffic_flow[int(trip[1]), :] + 0.001) \
                        / (self.opt_goto_dump_traffic_flow[int(trip[1]), :] + 0.001))

            logger.info(f"目的地：{dump.dump_index_to_uuid_dict[target]}")

        elif task in [3, 4, 5]:

            try:
                logger.info("矿卡状态：矿卡重载")
                logger.info(f"涉及挖机设备：{list(excavator.excavator_uuid_to_index_dict.keys())}")
            except Exception as es:
                logger.error(f"矿卡{truck_id}状态不匹配")
                logger.error(es)

            try:
                assert np.array(self.actual_goto_excavator_traffic_flow).shape == (
                    dynamic_dump_num,
                    dynamic_excavator_num,)
                assert np.array(self.opt_goto_excavator_traffic_flow).shape == (
                    dynamic_dump_num,
                    dynamic_excavator_num,)

            except Exception as es:
                logger.warning(es)
                self.actual_goto_excavator_traffic_flow = np.array(
                    self.actual_goto_excavator_traffic_flow).reshape((dynamic_dump_num, dynamic_excavator_num))
                self.opt_goto_excavator_traffic_flow = np.array(
                    self.opt_goto_excavator_traffic_flow).reshape((dynamic_dump_num, dynamic_excavator_num))

            # 不知道为什么，偶尔变成了list
            self.actual_goto_excavator_traffic_flow = np.array(self.actual_goto_excavator_traffic_flow)
            self.opt_goto_excavator_traffic_flow = np.array(self.opt_goto_excavator_traffic_flow)
            try:
                logger.info("挖机id:")
                logger.info(excavator.excavator_uuid_to_index_dict)
                logger.info("卸点id:")
                logger.info(dump.dump_uuid_to_index_dict)
                logger.info(f"挖机实际车流:")
                logger.info(self.actual_goto_excavator_traffic_flow)
                logger.info(f"挖机理想车流:")
                logger.info(self.opt_goto_excavator_traffic_flow)
                logger.info("重载trip")
                logger.info(trip)

                try:
                    logger.info("挖机实际车流_行")
                    logger.info(self.actual_goto_excavator_traffic_flow[trip[1], :])
                    logger.info("挖机理想车流_行")
                    logger.info(self.opt_goto_excavator_traffic_flow[trip[1], :])
                except Exception as es:
                    logger.info("trip出错")
                    logger.info(trip)
                    logger.info(es)

                logger.info("物料类型")
                if truck_id in truck.truck_material_bind:
                    logger.info(truck.truck_material_bind[truck_id])
                logger.info("驶往挖机的运输成本")
                logger.info(self.cost_to_excavator)
                logger.info("挖机物料修正")
                logger.info(truck.excavator_material_bind_modify)
                logger.info("挖机优先级修正")
                logger.info(excavator.excavator_priority_coefficient)
            except Exception as es:
                logger.info("车流及修正因子")
                logger.info(es)

            try:
                if truck_id in truck.truck_excavator_bind:
                    target = excavator.excavator_uuid_to_index_dict[truck.truck_excavator_bind[truck_id]]
                    logger.info("矿卡已绑定挖机")
                else:
                    logger.info("cost_to_excavator")
                    logger.info(self.cost_to_excavator)
                    if rule3 and rule4:
                        transport_value = self.cost_to_excavator[int(trip[1]), :]
                    else:
                        # transport_value = (self.actual_goto_excavator_traffic_flow[trip[1], :] + 0.001) \
                        #                     / (self.opt_goto_excavator_traffic_flow[trip[1], :] + 0.001)
                        transport_value = cur_excavator_mass/target_excavator_mass
                        logger.info("transport_value")
                        logger.info(transport_value)

                    target = np.argmin(transport_value
                        + truck.excavator_exclude_modify[truck_index]
                        + truck.excavator_material_bind_modify[truck_index])

            except Exception as es:
               logger.info("trip出错1")
               logger.info(es)

            try:
               logger.info("车流比:")
               logger.info(
                (self.actual_goto_excavator_traffic_flow[trip[1], :] + 0.001)
                / (self.opt_goto_excavator_traffic_flow[trip[1], :] + 0.001))
            except Exception as es:
                logger.info("trip出错2")
                logger.info(es)

            logger.info(f"目的地：{excavator.excavator_index_to_uuid_dict[target]}")

        logger.info("==========================================================")

        return target

    def schedule_construct(self):

        global truck
        global excavator
        global dump

        self.reset()

        print("self.cur_truck_ava_time", self.cur_truck_ava_time)

        # try:

        # 读取所需信息
        trucks = truck.get_truck_num()
        truck_current_trip = truck.get_truck_current_trip()
        truck_current_task = truck.get_truck_current_task()
        payload = truck.get_payload()
        unloading_time = dump.get_unloading_time()
        loading_time = excavator.get_loading_time()

        # 出入场时间
        loading_task_time = excavator.get_loading_task_time()
        unloading_task_time = dump.get_unloading_task_time()

        walk_time_to_unload_area = walk_manage.get_walk_time_to_unload_area()
        walk_time_to_load_area = walk_manage.get_walk_time_to_load_area()

        # Seq初始化
        Seq = [[truck_current_trip[i][1], -1] for i in range(trucks)]

        # 根据矿卡最早可用时间顺序进行规划
        print(self.cur_truck_ava_time)
        print(truck.truck_priority)
        temp = copy.deepcopy(self.cur_truck_ava_time) - truck.truck_priority

        try:
            # 没有启动的矿卡加上一个很大的值，降低其优先级
            for i in range(trucks):
                task = truck_current_task[truck.truck_index_to_uuid_dict[i]]
                if task == -2:
                    temp[i] = temp[i] + M
        except Exception as es:
            logger.error("矿卡排序启动异常")
            logger.error(es)

        index = np.argsort(temp.reshape(1, -1))
        index = index.flatten()

        # 对于在线矿卡已经赋予新的派车计划，更新其最早可用时间，及相关设备时间参数
        for truck_index in index:
            if len(Seq[truck_index]) > 0:

                # try:
                task = truck_current_task[truck.truck_index_to_uuid_dict[truck_index]]

                # 矿卡结束当前派车计划后的目的地
                end_eq_index = truck_current_trip[truck_index][1]


                # 调用调度函数，得到最优目的地序号
                target_eq_index = self.truck_schedule(truck.truck_index_to_uuid_dict[truck_index])
                # 写入Seq序列
                Seq[truck_index][1] = target_eq_index
                # except Exception as es:
                # logger.error(f'矿卡 {truck_uuid_to_name_dict[self.truck_index_to_uuid_dict[truck_index]]} 派车计划计算异常')
                # logger.error(es)

                try:

                    if task in empty_task_set:
                        target_area_index = dump.dump_index_to_unload_area_index_dict[target_eq_index]
                        end_area_index = excavator.excavator_index_to_load_area_index_dict[end_eq_index]
                        # 更新变量，预计产量更新
                        self.sim_dump_real_mass[target_eq_index] = \
                            (self.sim_dump_real_mass[target_eq_index] + payload[truck_index])
                        # 预计卸载设备可用时间更新
                        self.sim_dump_ava_time[target_eq_index] = (
                            max(
                                self.sim_dump_ava_time[target_eq_index],
                                self.sim_truck_ava_time[truck_index] + \
                                walk_time_to_unload_area[target_area_index][end_area_index],)
                            + unloading_task_time[target_eq_index]
                        )
                    elif task in heavy_task_set:
                        target_area_index = (excavator.excavator_index_to_load_area_index_dict[target_eq_index])
                        end_area_index = dump.dump_index_to_unload_area_index_dict[end_eq_index]
                        # 更新变量，预计产量更新
                        self.sim_excavator_real_mass[target_eq_index] = (self.sim_excavator_real_mass[target_eq_index]
                            + payload[truck_index])
                        # 预计装载点可用时间更新
                        self.sim_excavator_ava_time[target_eq_index] = (
                            max(self.sim_excavator_ava_time[target_eq_index], self.sim_truck_ava_time[truck_index]
                                + walk_time_to_unload_area[end_area_index][target_area_index],) \
                            + loading_task_time[target_eq_index])
                    else:
                        pass
                except Exception as es:
                    logger.error( f"矿卡 {truck_uuid_to_name_dict[truck.truck_index_to_uuid_dict[truck_index]]} 调度状态更新异常")
                    logger.error(es)

        for i in range(len(Seq)):
            try:

                record = {"truckId": truck.truck_index_to_uuid_dict[i]}
                task = truck.get_truck_current_task()[truck.truck_index_to_uuid_dict[i]]
                if task in empty_task_set:
                    item = (
                        session_mysql.query(Dispatch)
                        .filter_by(dump_id=dump.dump_index_to_uuid_dict[Seq[i][1]], isauto=1, isdeleted=0,).first())
                    record["exactorId"] = item.exactor_id
                    record["dumpId"] = item.dump_id
                    record["loadAreaId"] = item.load_area_id
                    record["unloadAreaId"] = item.unload_area_id
                    record["dispatchId"] = item.id
                    record["isdeleted"] = False
                    record["creator"] = item.creator
                    record["createtime"] = item.createtime.strftime(
                        "%b %d, %Y %#I:%#M:%#S %p")
                elif task in heavy_task_set:
                    item = (
                        session_mysql.query(Dispatch)
                        .filter_by(exactor_id=excavator.excavator_index_to_uuid_dict[Seq[i][1]], isauto=1, isdeleted=0,).first())
                    record["exactorId"] = excavator.excavator_index_to_uuid_dict[Seq[i][1]]
                    record["dumpId"] = item.dump_id
                    record["loadAreaId"] = item.load_area_id
                    record["unloadAreaId"] = item.unload_area_id
                    record["dispatchId"] = item.id
                    record["isdeleted"] = False
                    record["creator"] = item.creator
                    record["createtime"] = item.createtime.strftime(
                        "%b %d, %Y %#I:%#M:%#S %p")
                elif task == -2:
                    item = (
                        session_mysql.query(Dispatch)
                        .filter_by(exactor_id=excavator.excavator_index_to_uuid_dict[Seq[i][1]], isauto=1, isdeleted=0,).first())
                    record["exactorId"] = item.exactor_id
                    record["dumpId"] = item.dump_id
                    record["loadAreaId"] = item.load_area_id
                    record["unloadAreaId"] = item.unload_area_id
                    record["dispatchId"] = item.id
                    record["isdeleted"] = False
                    record["creator"] = item.creator
                    record["createtime"] = item.createtime.strftime(
                        "%b %d, %Y %#I:%#M:%#S %p")
                else:
                    pass

                redis5.set(truck.truck_index_to_uuid_dict[i], str(json.dumps(record)))
            except Exception as es:
                logger.error("调度结果写入异常-redis写入异常")
                logger.error(f"调度结果:{Seq}")
                logger.error(es)

        for i in range(trucks):
            print("dispatch_setting:")
            print(redis5.get(truck.truck_index_to_uuid_dict[i]))
        # except Exception as es:
        #     logger.error("更新不及时")
        #     logger.error(es)

        logger.info("#####################################周期更新结束#####################################")

        return Seq


def para_process(dispatcher):


    logger.info("papa_process!")

    # 清空数据库缓存
    session_mysql.commit()
    session_mysql.flush()

    # 清空数据库缓存
    session_postgre.commit()
    session_postgre.flush()



    # 周期更新
    dispatcher.para_period_update()


def state_process(dispatcher):

    print("state_process!")

    logger.info("state_process!")

    # 清空数据库缓存
    session_mysql.commit()
    session_mysql.flush()

    # 清空数据库缓存
    session_postgre.commit()
    session_postgre.flush()

    # 周期更新
    dispatcher.state_period_update()



    # 参数重置
    dispatcher.sim_para_reset()

    # try:

    # 调度计算
    dispatcher.schedule_construct()

    # except Exception as es:
    #     logger.error("更新不及时")
    #     logger.error(es)

# 下面三个函数保证程序定期执行，不用管他
def process(dispatcher):

    try:
        # 更新周期参数
        period_para_update()
        if get_value("dynamic_dump_num") * get_value("dynamic_excavator_num") == 0:
            raise Exception("无动态派车计划可用")
            return
        if get_value("dynamic_truck_num") == 0:
            raise Exception("无动态派车可用矿卡")
            return
        para_process(dispatcher)

        state_process(dispatcher)

    except Exception as es:
        logger.error(es)


scheduler = sched.scheduler(time.time, time.sleep)


def perform(inc, dispatcher):
    scheduler.enter(inc, 0, perform, (inc, dispatcher))
    process(dispatcher)


def main(inc, dispatcher):
    scheduler.enter(0, 0, perform, (inc, dispatcher))
    scheduler.run()


if __name__ == "__main__":
    logger.info(" ")
    logger.info("调度系统启动")

    dispatcher = Dispatcher()

    main(10, dispatcher)
