OpenTCS中的任务分派器dispatcher详解
- 1. 引言
- 2. 任务分派器(dispatcher)
- 2.1 默认的停车位置选择
- 2.2 可选停车位置属性
- 2.3 默认的充电位置选择
- 2.4 即时运输订单分配
- 3. 默认任务分派器的配置项
- 4. 参考资料与源码
1. 引言
openTCS是一项著名的开源运输控制系统,我在之前的一篇文章
开源AGV调度系统 OpenTCS 5.4 开发环境配置与编译运行中对该系统也做了初步介绍,该项研究工作丢了快三年了,由于发现还有不少感兴趣的读者,因此,我想继续撰写系列文章对该系统进行详解。
2. 任务分派器(dispatcher)
openTCS中默认的任务分派器(Default dispatcher)是openTCS内置的重要策略模块,当然也是允许用户自定义和替换的。
任务分派器(dispatcher)的职能为:当订单或者车辆处于可用状态,默认分派器决定该订单或者车辆下一步的工作如何进行。并且,默认分派器在执行此操作时需遵循以下步骤:
- 将新的运输订单准备就绪。需要包括检查一般可达性和未完成的依赖项。
- 对当前正在进行的进程进行更新。一般包括:
- 撤销运输订单
- 成功完成的运输订单
- 给正在执行序列订单的车辆分配后续的运输订单;
- 将当前闲置的车辆分配给可执行的订单。此时需要考虑到一些准则:
- 车辆:
- 该车辆在行驶路线上的位置必须已知;
- 该车辆没有被分配给运输订单或分配的任务不是必要的(比如电量充足的情况下执行充电任务或或前往停车点);
- 该车电量尚不影响使用;
- 订单:
- 该订单是一般可调度的;
- 该订单不是已被某车辆执行的序列订单的一部分;
- 分配机制:
- 如果可处理的运输订单大于未占用的车辆,则车辆按照可配置的标准进行排序,然后,默认分派器迭代排序后的列表,对于每辆车,查找其可执行的所有订单,计算所需的路线,根据可配置的标准对候选车辆进行排序,并分配第一个任务;
- 如果可处理的运输订单少于未占用的车辆,则运输订单按照可配置的标准进行排序,然后默认分派器对列表进行迭代,为每个运输订单找到所有可执行它的车辆,然后计算所需路径,并安排好第一个任务;
- 将仍闲置的车辆送往充电站。需要考虑的标准为:
- 该车辆在行驶路线上的位置必须处于已知状态;
- 该车辆的电量水平降低了。
- 将仍闲置的车辆送往充电站。需要考虑的标准为:
- 该车辆在行驶路线上的位置必须处于已知状态;
- 该车辆不能已经在停车点位置了。
2.1 默认的停车位置选择
当一辆小车被派往停车点时,默认选择最接近(依据路由)且未被占用的停车点。可以通过设置以下关键属性来给车辆分配固定的位置。
tcs:preferredParkingPosition
:模型中的点名。如果此停车点已被占用,则车辆选择附近距离最近的停车点代替。tcs:assignedParkingPosition
:模型中的点名。如果此停车点已被占用,则车辆不会前往到其他停车点,而是保持原地不动。
assignedParkingPosition
优先级高于preferredParkingPosition
。
2.2 可选停车位置属性
停车位置的优先级是可以明确的,车辆也可以按照一种新的停车序列进行重新停车操作。例如将车辆停放在运输订单频繁的第一目的地附近的位置。
要给停车点设置一个优先级,可以用tcs:parkingPositionPriority
键设置一个属性在点上。该属性的值应为十进制整数,值越小,则会导致停车位的优先级更高。
1.3. Default recharging location selection
2.3 默认的充电位置选择
当车辆被派往充电位置时,默认选择最接近(依据路由)且未被占用的充电位置。也可通过为以下键设置属性来给车辆分配固定位置:
preferredRechargeLocation
:如果此充电位置已被占用,则选择附近距离最近的充电位置。assignedRechargeLocation
:如果此充电位置已被选择,则车辆不会被派往到其他充电位置。
assignedRechargeLocation
优先级高于preferredRechargeLocation
。
2.4 即时运输订单分配
系统除了根据默认的流程和规则分配运输订单外,还可以显式分配运输订单(即时)。运输订单的即时分配支持具有预期车辆的运输订单。在这样的情况下,运输订单及其预期车辆通常处于可能进行分配的状态,但在常规调度程序流中被某些过滤条件阻止,因此采取这种方法将会很有用。
Although the immediate assignment of transport orders bypasses some of the filter criteria in the regular dispatcher flow, it works only in specific situations. Regarding the transport order’s state:
尽管传输订单的即时分配绕过了常规调度流程中的一些过滤条件,但它只在特定情况下起作用。考虑运输订单的状态:
- 运输订单的状态必须是可指派的(
DISPATCHABLE
)。 - 运输订单不能是订单序列的一部分。
- 必须设置运输订单的预定车辆。
至于(预定)车辆的状态:
- 车辆的处理状态必须为
IDLE
。 - 车辆状态必须为
IDLE
或CHARGING
。 - 车辆的集成级别必须是
TO_BE_UTILIZED
。 - 车辆必须被报告在已知位置。
- 车辆不得处理订单序列。
除了运输订单和预定车辆的各自状态之外,分派器可能还有其他特定的原因来拒绝即时分配。
3. 默认任务分派器的配置项
默认任务分派器提供以下配置项实现可配置.
defaultdispatcher.orderCandidatePriorities
- Type: Comma-separated list of strings
- Trigger for changes to be applied: on application start
- Description: Keys by which to prioritize transport order candidates for assignment.
Possible values: - BY_AGE: Sort by transport order age, oldest first.
- BY_DEADLINE: Sort by transport order deadline, most urgent first.
- DEADLINE_AT_RISK_FIRST: Sort orders with deadlines at risk first.
- BY_COMPLETE_ROUTING_COSTS: Sort by complete routing costs, lowest first.
- BY_INITIAL_ROUTING_COSTS: Sort by routing costs for the first destination.
- BY_ORDER_NAME: Sort by transport order name, lexicographically.
defaultdispatcher.orderPriorities
- Type: Comma-separated list of strings
- Trigger for changes to be applied: on application start
- Description: Keys by which to prioritize transport orders for assignment.
Possible values:
BY_AGE: Sort by age, oldest first.
BY_DEADLINE: Sort by deadline, most urgent first.
DEADLINE_AT_RISK_FIRST: Sort orders with deadlines at risk first.
BY_NAME: Sort by name, lexicographically.
defaultdispatcher.vehicleCandidatePriorities
- Type: Comma-separated list of strings
- Trigger for changes to be applied: on application start
- Description: Keys by which to prioritize vehicle candidates for assignment.
Possible values:
BY_ENERGY_LEVEL: Sort by energy level of the vehicle, highest first.
IDLE_FIRST: Sort vehicles with state IDLE first.
BY_COMPLETE_ROUTING_COSTS: Sort by complete routing costs, lowest first.
BY_INITIAL_ROUTING_COSTS: Sort by routing costs for the first destination.
BY_VEHICLE_NAME: Sort by vehicle name, lexicographically.
defaultdispatcher.vehiclePriorities
- Type: Comma-separated list of strings
- Trigger for changes to be applied: on application start
- Description: Keys by which to prioritize vehicles for assignment.
Possible values:
BY_ENERGY_LEVEL: Sort by energy level, highest first.
IDLE_FIRST: Sort vehicles with state IDLE first.
BY_NAME: Sort by name, lexicographically.
defaultdispatcher.deadlineAtRiskPeriod
Type: Integer
Trigger for changes to be applied: on application start
Description: The time window (in ms) before its deadline in which an order becomes urgent.
defaultdispatcher.assignRedundantOrders
- Type: Boolean
- Trigger for changes to be applied: instantly
- Description: Whether orders to the current position with no operation should be assigned.
defaultdispatcher.dismissUnroutableTransportOrders
- Type: Boolean
- Trigger for changes to be applied: instantly
- Description: Whether unroutable incoming transport orders should be marked as UNROUTABLE.
defaultdispatcher.reroutingImpossibleStrategy
- Type: String
- Trigger for changes to be applied: instantly
- Description: The strategy to use when rerouting of a vehicle results in no route at all.
The vehicle then continues to use the previous route in the configured way.
Possible values:
IGNORE_PATH_LOCKS: Stick to the previous route, ignoring path locks.
PAUSE_IMMEDIATELY: Do not send further orders to the vehicle; wait for another rerouting opportunity.
PAUSE_AT_PATH_LOCK: Send further orders to the vehicle only until it reaches a locked path; then wait for another rerouting opportunity.
defaultdispatcher.parkIdleVehicles
- Type: Boolean
- Trigger for changes to be applied: instantly
- Description: Whether to automatically create parking orders for idle vehicles.
defaultdispatcher.considerParkingPositionPriorities
- Type: Boolean
- Trigger for changes to be applied: instantly
- Description: Whether to consider parking position priorities when creating parking orders.
defaultdispatcher.reparkVehiclesToHigherPriorityPositions
- Type: Boolean
- Trigger for changes to be applied: instantly
- Description: Whether to repark vehicles to parking positions with higher priorities.
defaultdispatcher.rechargeIdleVehicles
- Type: Boolean
- Trigger for changes to be applied: instantly
- Description: Whether to automatically create recharge orders for idle vehicles.
defaultdispatcher.keepRechargingUntilFullyCharged
- Type: Boolean
- Trigger for changes to be applied: instantly
- Description: Whether vehicles must be recharged until they are fully charged.
If false, vehicle must only be recharged until sufficiently charged.
defaultdispatcher.idleVehicleRedispatchingInterval
- Type: Integer
- Trigger for changes to be applied: when/after plant model is loaded
- Description: The interval between redispatching of vehicles.
4. 参考资料与源码
本文内容参考:官方文档
该模块源码位于:
openTCS-Strategies-Default/src/main/java/org/opentcs/strategies/basic/dispatching/DefaultDispatcher.java,代码如下:
public DefaultDispatcher(OrderReservationPool orderReservationPool,TransportOrderUtil transportOrderUtil,InternalVehicleService vehicleService,@ApplicationEventBus EventSource eventSource,@KernelExecutor ScheduledExecutorService kernelExecutor,FullDispatchTask fullDispatchTask,Provider<PeriodicVehicleRedispatchingTask> periodicDispatchTaskProvider,DefaultDispatcherConfiguration configuration,RerouteUtil rerouteUtil,OrderAssigner orderAssigner,TransportOrderAssignmentChecker transportOrderAssignmentChecker) {this.orderReservationPool = requireNonNull(orderReservationPool, "orderReservationPool");this.transportOrderUtil = requireNonNull(transportOrderUtil, "transportOrderUtil");this.vehicleService = requireNonNull(vehicleService, "vehicleService");this.eventSource = requireNonNull(eventSource, "eventSource");this.kernelExecutor = requireNonNull(kernelExecutor, "kernelExecutor");this.fullDispatchTask = requireNonNull(fullDispatchTask, "fullDispatchTask");this.periodicDispatchTaskProvider = requireNonNull(periodicDispatchTaskProvider,"periodicDispatchTaskProvider");this.configuration = requireNonNull(configuration, "configuration");this.rerouteUtil = requireNonNull(rerouteUtil, "rerouteUtil");this.orderAssigner = requireNonNull(orderAssigner, "orderAssigner");this.transportOrderAssignmentChecker = requireNonNull(transportOrderAssignmentChecker,"transportOrderAssignmentChecker");}@Overridepublic void initialize() {if (isInitialized()) {return;}LOG.debug("Initializing...");transportOrderUtil.initialize();orderReservationPool.clear();fullDispatchTask.initialize();implicitDispatchTrigger = new ImplicitDispatchTrigger(this);eventSource.subscribe(implicitDispatchTrigger);LOG.debug("Scheduling periodic dispatch task with interval of {} ms...",configuration.idleVehicleRedispatchingInterval());periodicDispatchTaskFuture = kernelExecutor.scheduleAtFixedRate(periodicDispatchTaskProvider.get(),configuration.idleVehicleRedispatchingInterval(),configuration.idleVehicleRedispatchingInterval(),TimeUnit.MILLISECONDS);initialized = true;}@Overridepublic void terminate() {if (!isInitialized()) {return;}LOG.debug("Terminating...");periodicDispatchTaskFuture.cancel(false);periodicDispatchTaskFuture = null;eventSource.unsubscribe(implicitDispatchTrigger);implicitDispatchTrigger = null;fullDispatchTask.terminate();initialized = false;}@Overridepublic boolean isInitialized() {return initialized;}@Overridepublic void dispatch() {LOG.debug("Scheduling dispatch task...");// Schedule this to be executed by the kernel executor.kernelExecutor.submit(fullDispatchTask);}@Overridepublic void withdrawOrder(TransportOrder order, boolean immediateAbort) {requireNonNull(order, "order");checkState(isInitialized(), "Not initialized");// Schedule this to be executed by the kernel executor.kernelExecutor.submit(() -> {LOG.debug("Scheduling withdrawal for transport order '{}' (immediate={})...",order.getName(),immediateAbort);transportOrderUtil.abortOrder(order, immediateAbort);});}@Overridepublic void withdrawOrder(Vehicle vehicle, boolean immediateAbort) {requireNonNull(vehicle, "vehicle");checkState(isInitialized(), "Not initialized");// Schedule this to be executed by the kernel executor.kernelExecutor.submit(() -> {LOG.debug("Scheduling withdrawal for vehicle '{}' (immediate={})...",vehicle.getName(),immediateAbort);transportOrderUtil.abortOrder(vehicle, immediateAbort);});}@Overridepublic void topologyChanged() {if (configuration.rerouteOnTopologyChanges()) {LOG.debug("Scheduling reroute task...");kernelExecutor.submit(() -> {LOG.info("Rerouting all vehicles due to topology change...");rerouteUtil.reroute(vehicleService.fetchObjects(Vehicle.class), ReroutingType.REGULAR);});}}@Overridepublic void reroute(Vehicle vehicle, ReroutingType reroutingType) {LOG.debug("Scheduling reroute task...");kernelExecutor.submit(() -> {LOG.info("Rerouting vehicle due to explicit request: {} ({}, current position {})...",vehicle.getName(),reroutingType,vehicle.getCurrentPosition() == null ? null : vehicle.getCurrentPosition().getName());rerouteUtil.reroute(vehicle, reroutingType);});}@Overridepublic void assignNow(TransportOrder transportOrder)throws TransportOrderAssignmentException {requireNonNull(transportOrder, "transportOrder");TransportOrderAssignmentVeto assignmentVeto= transportOrderAssignmentChecker.checkTransportOrderAssignment(transportOrder);if (assignmentVeto != TransportOrderAssignmentVeto.NO_VETO) {throw new TransportOrderAssignmentException(transportOrder.getReference(),transportOrder.getIntendedVehicle(),assignmentVeto);}orderAssigner.tryAssignments(List.of(vehicleService.fetchObject(Vehicle.class, transportOrder.getIntendedVehicle())),List.of(transportOrder));}
}