矿卡型号控制，修复BUG

equipment/dump.py

@@ -47,6 +47,9 @@ class DumpInfo(WalkManage):
         self.period_map_para_load()
         self.period_walk_para_load()
 
+        # 参数初始化
+        self.para_period_update()
+
     def get_unloading_time(self):
         return self.unloading_time
 

equipment/excavator.py

@@ -47,6 +47,9 @@ class ExcavatorInfo(WalkManage):
         self.period_map_para_load()
         self.period_walk_para_load()
 
+        # 参数初始化
+        self.para_period_update()
+
     # def period_map_para_load(self):
     #     # 关系映射
     #     self.excavator_uuid_to_index_dict = device_map.excavator_uuid_to_index_dict
@@ -177,7 +180,7 @@ class ExcavatorInfo(WalkManage):
     def update_excavator_material(self):
         for excavator_id in dynamic_excavator_set:
             load_area_id = session_mysql.query(Dispatch).filter_by(exactor_id=excavator_id).first().load_area_id
-            excavator_material_id = session_postgre.query(DiggerArea).filter_by(Id=load_area_id).first().Material
+            excavator_material_id = session_postgre.query(DiggingWorkArea).filter_by(Id=load_area_id).first().Material
             self.excavator_material[excavator_id] = excavator_material_id
 
     def para_period_update(self):

equipment/truck.py

@@ -42,6 +42,14 @@ class TruckInfo(WalkManage):
         # self.sim_truck_ava_time = np.zeros(self.dynamic_truck_num)
         # 矿卡有效载重
         self.payload = np.zeros(self.dynamic_truck_num)
+        # 矿卡时速
+        self.empty_speed = {}
+        self.heavy_speed = {}
+        # 矿卡长宽
+        self.geo_length = {}
+        self.geo_width = {}
+        # 矿卡型号
+        self.size = {}
         # 矿卡当前行程(第一列为出发地序号, 第二列为目的地序号)
         self.truck_current_trip = np.full((self.dynamic_truck_num, 2), -1)
         # 矿卡挖机绑定关系
@@ -68,6 +76,8 @@ class TruckInfo(WalkManage):
         self.period_map_para_load()
         self.period_walk_para_load()
 
+        self.para_period_update()
+
     # def period_map_para_load(self):
     #     # 关系映射
     #     self.excavator_uuid_to_index_dict = device_map.excavator_uuid_to_index_dict
@@ -118,6 +128,12 @@ class TruckInfo(WalkManage):
     def get_payload(self):
         return self.payload
 
+    def get_width(self):
+        return self.geo_width
+
+    def get_length(self):
+        return self.geo_length
+
     ################################################ short term update ################################################
 
     # 更新矿卡当前任务
@@ -327,6 +343,8 @@ class TruckInfo(WalkManage):
             logger.error("读取矿卡有效载重异常-矿卡型号信息缺失")
             logger.error(es)
 
+        print(self.payload)
+
     def update_truck_priority(self):
         self.truck_priority = np.zeros(self.dynamic_truck_num)
 
@@ -399,7 +417,6 @@ class TruckInfo(WalkManage):
             logger.error(es)
 
     def update_truck_dump_exclude(self):
-
         pass
 
     def update_truck_material(self):
@@ -470,6 +487,17 @@ class TruckInfo(WalkManage):
                     if dump_material_id != material:
                         self.dump_material_bind_modify[truck_index][dump_index] = 1000000
 
+    def update_truck_spec(self):
+        for truck_id in dynamic_truck_set:
+            self.size[truck_id] = session_mysql.query(Equipment).filter_by(id=truck_id).first().equipment_spec
+
+    def update_truck_size(self):
+        self.update_truck_spec()
+        for truck_id in dynamic_truck_set:
+            truck_spec_id = self.size[truck_id]
+            self.geo_length[truck_id] = session_mysql.query(EquipmentSpec).filter_by(id=truck_spec_id).first().length
+            self.geo_width[truck_spec_id] = session_mysql.query(EquipmentSpec).filter_by(id=truck_spec_id).first().width
+
         # print("-------------------------------------------")
         # print("truck")
         # print(self.truck_uuid_to_index_dict)
@@ -482,6 +510,15 @@ class TruckInfo(WalkManage):
         # print(dynamic_dump_set)
         # print(self.dump_material_bind_modify)
 
+    def update_truck_speed(self):
+        for truck_id in dynamic_truck_set:
+            self.empty_speed[truck_id] = session_mysql.query(EquipmentSpec.max_speed). \
+                Join(Equipment, EquipmentSpec.id == Equipment.equipment_spec). \
+                filter(Equipment.id == truck_id).first()
+            self.heavy_speed[truck_id] = session_mysql.query(EquipmentSpec.max_speed). \
+                Join(Equipment, EquipmentSpec.id == Equipment.equipment_spec). \
+                filter(Equipment.id == truck_id).first()
+
     def para_period_update(self):
 
         # print("Para truck update!")

path_plan/path_plannner.py

@@ -11,6 +11,7 @@ from settings import *
 from static_data_process import *
 from settings import *
 from para_config import *
+from equipment.truck import TruckInfo
 
 M = 1000000
 
@@ -22,7 +23,9 @@ class PathPlanner(WalkManage):
         # 路段集合
         self.lane_set = {}
         # 车辆长度(暂)
-        self.truck_length = 113
+        self.truck = TruckInfo()
+        self.truck.update_truck_size()
+        self.truck_length = float(sum(self.truck.get_length().values())) / len(self.truck.get_length())
         # 装载区数量
         self.num_of_load_area = len(set(update_load_area()))
         # 卸载区数量

realtime_dispatch.py

@@ -537,9 +537,12 @@ class Dispatcher(WalkManage):
         # 卸载设备卸载时间
         unloading_time = self.dump.get_unloading_time()
         # 路网信息
-        walk_time_park_to_excavator = walk_manage.get_walk_time_park_to_excavator()
-        walk_time_to_dump = walk_manage.get_walk_time_to_dump()
-        walk_time_to_excavator = walk_manage.get_walk_time_to_excavator()
+        walk_time_park_to_excavator = walk_manage.get_walk_time_park_to_excavator() \
+                                      * (empty_speed / self.truck.empty_speed[truck_id])
+        walk_time_to_dump = walk_manage.get_walk_time_to_dump() * \
+                            (heavy_speed / self.truck.heavy_speed[truck_id])
+        walk_time_to_excavator = walk_manage.get_walk_time_to_excavator() * \
+                                 (empty_speed / self.truck.empty_speed[truck_id])
 
         # 出入场时间
         loading_task_time = self.excavator.get_loading_task_time()

schedule_test.py

+#!E:\Pycharm Projects\Waytous
+# -*- coding: utf-8 -*-
+# @Time : 2021/8/24 14:56
+# @Author : Opfer
+# @Site :
+# @File : schedule_test.py    
+# @Software: PyCharm
+
+import datetime
+from apscheduler.schedulers.background import BackgroundScheduler
+from apscheduler.schedulers.blocking import BlockingScheduler
+from apscheduler.jobstores.memory import MemoryJobStore
+from apscheduler.executors.pool import ThreadPoolExecutor, ProcessPoolExecutor
+
+def my_job(id='my_job'):
+    print(id, '-->', datetime.datetime.now())
+
+jobstores = {'default': MemoryJobStore()}
+
+executors = {'default': ThreadPoolExecutor(10)}
+
+job_defaults = {'coalesce': False, 'max_instances': 10}
+
+scheduler = BlockingScheduler(jobstores=jobstores, executors=executors, job_defaults=job_defaults)
+
+scheduler.add_job(my_job, args=['job_interval'], id='ins1', trigger='interval', seconds=5)
+
+scheduler.add_job(my_job, args=['job_interval'], id='ins2', trigger='interval', seconds=5)
+
+if __name__ == '__main__':
+    try:
+        scheduler.start()
+    except SystemExit:
+        print('exit')
+        exit()
\ No newline at end of file

tables.py

@@ -324,11 +324,17 @@ class EquipmentSpec(Base):
     id = Column(VARCHAR(36), primary_key=True)
     capacity = Column(Integer)
     mining_abililty = Column(Float)
+    length = Column(Float)
+    width = Column(Float)
+    max_speed = Column(Float)
 
-    def __init__(self, id, capacity, mining_abililty):
+    def __init__(self, id, capacity, mining_abililty, length, width, max_speed):
         self.id = id
         self.capacity = capacity
         self.mining_abililty = mining_abililty
+        self.length = length
+        self.width = width
+        self.max_speed = max_speed
 
 class LoadInfo(Base):
     __tablename__ = 'sys_loadinfo'
@@ -393,6 +399,7 @@ class DumpArea(Base):
         self.Disabled = Disabled
         self.Material = Material
 
+
 class DiggingWorkArea(Base):
     __tablename__ = 'Geo_DiggingWorkArea'
 

traffic_flow/traffic_flow_planner.py

@@ -196,7 +196,7 @@ def traffic_flow_plan():
 
     return res["var_x"], res["var_y"]
 
-traffic_flow_plan()
+# traffic_flow_plan()
 
 # end = time.time()
 # print("used {:.5}s".format(end-start))