def __init__(self,
group,
task_type,
mode='FIFO',
cncs_type='00000000',
fault=False,
print_info=False):
'''
group: cnc机器类型组别
task_type: 1/2，1表示一道工序模式，2表示两道工序模式。
cncs_type: 八位二进制0/1字符串，0表示处理第一道工序，1表示处理第二道工序。
'''
self.group = group
self.group_1 = [20, 33, 46, 560, 400, 378, 28, 31, 25]
self.group_2 = [23, 41, 59, 580, 280, 500, 30, 35, 30]
self.group_3 = [18, 32, 46, 545, 455, 182, 27, 32, 25]
self.groups_para = [self.group_1, self.group_2,
self.group_3] # 各组cnc，rgv机器参数
self.task_type = task_type #
self.T = 8 * 60 * 60 # 一次加工总时间，单位：秒
self.time = 0 # 计时器
self.cnt = 0 # 时间
self.cncs_type = cncs_type
if self.task_type == 1:
self.cnc_ls = [
CNC(i + 1, group, self.task_type - 1, self.groups_para, fault)
for i in range(8)
] # task 1
else:
self.cnc_ls = [
CNC(
int(i) + 1, group,
int(cncs_type[i]) + 1, self.groups_para, fault)
for i in range(8)
] # task 2
self.rgv = RGV(0, group, self.task_type, self.groups_para) # 初始化rgv
self.wait_queue = [] # 任务等待队列，按照任务先后顺序
self.wait_queue_task1 = [] # 第一阶段等待队列
self.wait_queue_task2 = [] # 第二阶段等待队列
self.wait_set = set() # 任务等待集合
self.wait_set_task1 = set() # 第一阶段等待集合
self.wait_set_task2 = set() # 第二阶段等待集合
self.mode = mode
self.select_ls = []
self.print_info = print_info
class TaskSys:
def __init__(self,
group,
task_type,
mode='FIFO',
cncs_type='00000000',
fault=False,
print_info=False):
'''
group: cnc机器类型组别
task_type: 1/2，1表示一道工序模式，2表示两道工序模式。
cncs_type: 八位二进制0/1字符串，0表示处理第一道工序，1表示处理第二道工序。
'''
self.group = group
self.group_1 = [20, 33, 46, 560, 400, 378, 28, 31, 25]
self.group_2 = [23, 41, 59, 580, 280, 500, 30, 35, 30]
self.group_3 = [18, 32, 46, 545, 455, 182, 27, 32, 25]
self.groups_para = [self.group_1, self.group_2,
self.group_3] # 各组cnc，rgv机器参数
self.task_type = task_type #
self.T = 8 * 60 * 60 # 一次加工总时间，单位：秒
self.time = 0 # 计时器
self.cnt = 0 # 时间
self.cncs_type = cncs_type
if self.task_type == 1:
self.cnc_ls = [
CNC(i + 1, group, self.task_type - 1, self.groups_para, fault)
for i in range(8)
] # task 1
else:
self.cnc_ls = [
CNC(
int(i) + 1, group,
int(cncs_type[i]) + 1, self.groups_para, fault)
for i in range(8)
] # task 2
self.rgv = RGV(0, group, self.task_type, self.groups_para) # 初始化rgv
self.wait_queue = [] # 任务等待队列，按照任务先后顺序
self.wait_queue_task1 = [] # 第一阶段等待队列
self.wait_queue_task2 = [] # 第二阶段等待队列
self.wait_set = set() # 任务等待集合
self.wait_set_task1 = set() # 第一阶段等待集合
self.wait_set_task2 = set() # 第二阶段等待集合
self.mode = mode
self.select_ls = []
self.print_info = print_info
def get_up_thres(self):
if self.task_type == 1:
return self.T / self.groups_para[self.group - 1][3] * len(
self.cnc_ls)
n_0 = 0
n_1 = 0
for t in self.cncs_type:
if t == '0':
n_0 += 1
if t == '1':
n_1 += 1
t_0 = self.groups_para[self.group - 1][4]
t_1 = self.groups_para[self.group - 1][5]
up_thres = self.T / max(t_0 / n_0, t_1 / n_0)
return up_thres
def stats(self, filename=None):
# rgv
num_result = self.rgv.get_result(self.T) # 完成任务的数量 +
if num_result != 0:
mean_sys_do_task_time = self.T / num_result # 完成任务的平均时间 +
else:
mean_sys_do_task_time = 0
mean_cnc_do_task_time = mean_sys_do_task_time * len(self.cnc_ls)
# cnc
cnc_sum_wait_time = self.rgv.get_sum_wait_time(
self.cnc_ls) # cnc 完成所有任务的总等待时间 +
cnc_mean_wait_time = self.rgv.get_mean_wait_time(
self.cnc_ls) # cnc 每完成一个任务的平均等待时间 +
cnc_std_wait_time = self.rgv.get_std_wait_time(
self.cnc_ls) # cnc 完成每个任务的等待时间的标准差 +
pre_cnc_wait_time = cnc_sum_wait_time / self.T # cnc闲置占比 +
up_thres = self.get_up_thres()
pre_task_in_up_thres = num_result / up_thres #完成任务占上界的比
return [
num_result, mean_cnc_do_task_time, mean_sys_do_task_time,
cnc_sum_wait_time, cnc_mean_wait_time, cnc_std_wait_time,
pre_cnc_wait_time, pre_task_in_up_thres, up_thres
]
def write_stats_info(self):
pass
def print_stats(self):
print('mode: %s, group: %d' % (self.mode, self.group))
if self.cncs_type != None:
print('cncs_type: %s' % self.cncs_type)
rgv_sum = self.rgv.idle_time + self.rgv.move_time + self.rgv.updown_time + self.rgv.wash_time
print('rgv, idle:%d, move:%d, updown:%d, wash:%d, sum:%d ' %
(self.rgv.idle_time, self.rgv.move_time, self.rgv.updown_time,
self.rgv.wash_time, rgv_sum))
print('mv_dist:', self.rgv.sum_move_distance)
for i, cnc in enumerate(self.cnc_ls):
cnc.stats()
print('cnc_type: %d cnc: %d, wc_t: %d, idle_t: %d, mean_wt: %s' %
(cnc.get_type(), i + 1, cnc.wait_call_time, cnc.idle_time,
str(cnc.mean_wait_time)))
# print(self.select_ls)
def run(self):
self.cnt = self.T
while True:
self.time = self.T - self.cnt
self.update_cnn_condition(self.time)
self.update_rgv_condition(self.time)
self.cnt -= 1
if self.cnt == 0:
break
if self.print_info:
self.print_stats()
self.stats()
def update_cnn_condition(self, time):
for cnc in self.cnc_ls:
# 处于等待响应队列的cnc设备,0:初始化状态；2:完成任务状态
status = cnc.get_status()
if status == 0 or status == 2:
num = cnc.get_num()
if num not in self.wait_set:
self.wait_queue.append(num)
self.wait_set.add(num)
# 如果cnc加工的是第一道工序
if cnc.type == 1:
self.wait_queue_task1.append(num)
self.wait_set_task1.add(num)
# 如果cnc加工的是第二道工序
if cnc.type == 2:
self.wait_queue_task2.append(num)
self.wait_set_task2.add(num)
cnc.wait_call()
# 处于加工状态的cnc设备
if status == 1:
cnc.do_task(time)
# 检查任务是否已经完成，完成则添加到等待队列中
if cnc.get_status() == 2:
num = cnc.get_num()
if num not in self.wait_set:
self.wait_queue.append(num)
self.wait_set.add(num)
# 如果cnc加工的是第一道工序
if cnc.type == 1:
self.wait_queue_task1.append(num)
self.wait_set_task1.add(num)
# 如果cnc加工的是第二道工序
if cnc.type == 2:
self.wait_queue_task2.append(num)
self.wait_set_task2.add(num)
# 处于被rgv响应的设备，但是还没有开始任务
if status == 3:
cnc.idle()
# 设备处于故障状态
if status == -1:
cnc.start_maintain(time)
if status == 4:
cnc.maintain(time)
def update_rgv_condition(self, time):
status = self.rgv.get_status()
task_time = self.rgv.get_task_time()
# rgv 处于闲置状态
if status == 0:
# 检查是否有cnc发出请求 或者 使用的是STSPW算法
if self.wait_queue != [] or self.mode == 'STSPW':
wait_queue_ls = [
self.wait_queue, self.wait_queue_task1,
self.wait_queue_task2
]
wait_set_ls = [
self.wait_set, self.wait_set_task1, self.wait_set_task2
]
# 寻找目标
k = self.rgv.update_status_move(wait_queue_ls, wait_set_ls,
self.cnc_ls, self.mode, time)
if k == -1:
self.rgv.idle()
else:
self.select_ls.append(k)
# 如果cnc发出了响应请求，则通知cnc.num = k , 请求已被响应，并且整理等待队列信息
cnc_status = self.cnc_ls[k - 1].get_status()
if cnc_status == 2 or cnc_status == 0:
self.cnc_ls[k - 1].reply()
if k in self.wait_set:
self.wait_queue.remove(k)
self.wait_set.remove(k)
if self.task_type == 2:
if k in self.wait_set_task1:
self.wait_queue_task1.remove(k)
self.wait_set_task1.remove(k)
else:
self.wait_queue_task2.remove(k)
self.wait_set_task2.remove(k)
else:
self.rgv.idle()
# rgv 处于移动状态
elif status == 1:
if task_time == 0:
self.rgv.update_status_updown_material(self.cnc_ls, time)
else:
self.rgv.move()
# rgv 处于上下料状态
elif status == 2:
if task_time == 0:
# self.rgv.change_hand_status(self.rgv.num_sever_cnc, self.cnc_ls)
self.cnc_ls[self.rgv.num_sever_cnc - 1].start_task(time)
# 如果两只机械手上存在3（两道加工后的料）
if self.rgv.get_hand_1()[0] == 3 or self.rgv.get_hand_2(
)[0] == 3:
self.rgv.update_status_wash_material()
else:
# 两种情况，一种取到一道加工后的料2，一种，什么也没取到
self.rgv.set_status(0)
self.update_rgv_condition(time)
else:
self.rgv.updown_material()
# rgv 处于清洗材料状态
elif status == 3:
if task_time == 0:
# 释放手上的成料
self.rgv.release_hand()
self.rgv.update_status_idle()
else:
self.rgv.wash_material()
# 考虑边界
status = self.rgv.get_status()
if status == 0:
self.update_rgv_condition(time)
def save_stats_result(self):
pass
def output_result_task1(self):
return self.rgv.get_result(self.T)
def get_result_task1(self):
return self.rgv.get_result_ls_task1(self.T)
def get_result_task2(self):
return self.rgv.get_result_ls_task2(self.T)
def get_use_material_result_ls(self):
return self.rgv.get_used_material_ls(self.T)
def output_result_task2(self):
return self.rgv.get_result(self.T)
from CNC import CNC
from RGV import RGV
time = 0
goodsnum = 0
relativeloca = [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
relativeloca2 = [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
rgv = RGV([0, 18, 32, 46], 27, 32, 25, 1)
workingtime = [0, 455, 182]
cnclist = []
fcnc = [0]
scnc = [0]
sequenceall = [0]
sequence1 = [0]
sequence2 = [0]
uptsequence1 = [0]
uptsequence2 = [0]
updowntsequence1 = [0]
updowntsequence2 = [0]
genome = [-1, 0, 1, 1, 0, 0, 1, 0, 0]
def express():
global cnclist
global fcnc
global scnc
for n in range(1, 8 + 1):
if genome[n] == 1:
cnclist[n].whethersec = True
scnc.append(cnclist[n].num)
else:
fcnc.append(cnclist[n].num)
from CNC import CNC
from RGV import RGV
import random
time = 0
goodsnum = 0
relativeloca = [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
relativeloca2 = [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
rgv = RGV([0, 20, 33, 46], 28, 31, 25, 1)
workingtime = [0, 400, 378]
cnclist = []
fcnc = [0]
scnc = [0]
sequenceall = [0]
sequence1 = [0]
sequence2 = [0]
uptsequence1 = [0]
uptsequence2 = [0]
updowntsequence1 = [0]
updowntsequence2 = [0]
genome = [-1, 0, 1, 0, 1, 0, 1, 0, 1]
def express():
global cnclist
global fcnc
global scnc
for n in range(1, 8 + 1):
if genome[n] == 1:
cnclist[n].whethersec = True
scnc.append(cnclist[n].num)
from CNC import CNC
from RGV import RGV
time = 0
goodsnum = 0
relativeloca = [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
relativeloca2 = [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
rgv = RGV([0, 23, 41, 59], 30, 35, 30, 1)
workingtime = [0, 280, 500]
cnclist = []
fcnc = [0]
scnc = [0]
sequenceall = [0]
sequence1 = [0]
sequence2 = [0]
uptsequence1 = [0]
uptsequence2 = [0]
updowntsequence1 = [0]
updowntsequence2 = [0]
genome = [-1, 0, 1, 0, 1, 1, 1, 0, 1]
def express():
global cnclist
global fcnc
global scnc
for n in range(1, 8 + 1):
if genome[n] == 1:
cnclist[n].whethersec = True
scnc.append(cnclist[n].num)
else:
fcnc.append(cnclist[n].num)