import simpy
from Routing import ShortestPath as sp
import tkinter as tk
import Dispatcher as dp
import numpy as np
import Learn as Le
import copy
import time
#unit = 50
#Hight = 7
#Width = 7
#Origin = [1, 1]
class Job(object):
current_seq = 0
def __init__(self, env, Controller, Jtype):
self.env = env
self.Controller = Controller
self.Type = Jtype
self.FlowTime = self.env.now
self.Tardiness = 0
self.create(Jtype)
#
#
self.position = Controller.stations[0]
self.Queue = self.env.event()
self.Controller.jobs.append(self)
self.Controller.job_num += 1
self.Controller.Rtravel += (len(self.seq)-1)
self.Controller.sysJob.append(self)
self.position.out_num += 1
self.position.out_queue.append(self)
self.env.process(self.flow())
def create(self, JT):
if JT == 1:
#self.DueDate = 1062 + self.env.now
self.DueDate = 1416*(0.5+np.random.random()) + self.env.now
self.seq = [0, 3, 4, 6, 5, 1, 8, 9, 10, 2, 7, 11]
self.PT = [0, 44, 5, 58, 97, 9, 84, 77, 96, 58, 89, 0]
self.PT = (np.array([0, 44, 5, 58, 97, 9, 84, 77, 96, 58, 89, 0])/2).tolist()
elif JT == 2:
#self.DueDate = 1064 + self.env.now
self.DueDate = 1418*(0.5+np.random.random()) + self.env.now
self.seq = [0, 5, 8, 2, 9, 1, 4, 3, 6, 10, 7, 11]
self.PT = [0, 15, 31, 87, 57, 77, 85, 81, 39, 73, 21, 0]
self.PT = (np.array([0, 15, 31, 87, 57, 77, 85, 81, 39, 73, 21, 0])/2).tolist()
elif JT == 3:
#self.DueDate = 947 + self.env.now
self.DueDate = 1262*(0.5+np.random.random()) + self.env.now
self.seq = [0, 10, 7, 6, 4, 2, 1, 9, 3, 8, 6, 11]
self.PT = [0, 82, 22, 10, 70, 49, 40, 34, 48, 80, 71, 0]
self.PT = (np.array([0, 82, 22, 10, 70, 49, 40, 34, 48, 80, 71, 0])/2).tolist()
elif JT == 4:
#self.DueDate = 869 + self.env.now
self.DueDate = 1158*(0.5+np.random.random()) + self.env.now
self.seq = [0, 2, 3, 8, 6, 9, 5, 4, 7, 10, 1, 11]
self.PT = [0, 91, 17, 62, 75, 47, 11, 7, 72, 35, 55, 0]
self.PT = (np.array([0, 91, 17, 62, 75, 47, 11, 7, 72, 35, 55, 0])/2).tolist()
elif JT == 5:
#self.DueDate = 1058 + self.env.now
self.DueDate = 1410*(0.5+np.random.random()) + self.env.now
self.seq = [0, 7, 2, 4, 1, 3, 9, 5, 8, 10, 6, 11]
self.PT = [0, 71, 90, 75, 64, 94, 15, 12, 67, 20, 50, 0]
self.PT = (np.array([0, 71, 90, 75, 64, 94, 15, 12, 67, 20, 50, 0])/2).tolist()
elif JT == 6:
#self.DueDate = 1097 + self.env.now
self.DueDate = 1462*(0.5+np.random.random()) + self.env.now
self.seq = [0, 8, 6, 9, 3, 5, 7, 4, 2, 10, 1, 11]
self.PT = [0, 70, 93, 77, 29, 58, 93, 68, 57, 7, 52, 0]
self.PT = (np.array([0, 70, 93, 77, 29, 58, 93, 68, 57, 7, 52, 0])/2).tolist()
elif JT == 7:
#self.DueDate = 965 + self.env.now
self.DueDate = 1286*(0.5+np.random.random()) + self.env.now
self.seq = [0, 7, 2, 5, 6, 3, 4, 8, 9, 10, 1, 11]
self.PT = [0, 87, 63, 26, 6, 82, 27, 56, 48, 36, 95, 0]
self.PT = (np.array([0, 87, 63, 26, 6, 82, 27, 56, 48, 36, 95, 0])/2).tolist()
elif JT == 8:
#self.DueDate = 887 + self.env.now
self.DueDate = 1182*(0.5+np.random.random()) + self.env.now
self.seq = [0, 1, 6, 9, 10, 4, 7, 5, 8, 3, 2, 11]
self.PT = [0, 36, 15, 41, 78, 76, 84, 30, 76, 36, 8, 0]
self.PT = (np.array([0, 36, 15, 41, 78, 76, 84, 30, 76, 36, 8, 0])/2).tolist()
elif JT == 9:
#self.DueDate = 1011 + self.env.now
self.DueDate = 1348*(0.5+np.random.random()) + self.env.now
self.seq = [0, 6, 3, 4, 7, 5, 8, 9, 10, 2, 1, 0]
self.PT = [0, 88, 81, 13, 82, 54, 13, 29, 40, 78, 75, 0]
self.PT = (np.array([0, 88, 81, 13, 82, 54, 13, 29, 40, 78, 75, 0])/2).tolist()
elif JT == 10:
#self.DueDate = 849 + self.env.now
self.DueDate = 1132*(0.5+np.random.random()) + self.env.now
self.seq = [0, 10, 5, 7, 8, 1, 3, 9, 6, 4, 2, 11]
self.PT = [0, 88, 54, 64, 32, 52, 6, 54, 82, 6, 26, 0]
self.PT = (np.array([0, 88, 54, 64, 32, 52, 6, 54, 82, 6, 26, 0])/2).tolist()
def create2(self, JT):
if JT == 1:
#self.DueDate = 536 + self.env.now
#self.DueDate = 402 + self.env.now
#self.DueDate = 268 + self.env.now
self.DueDate = 536*(0.5+np.random.random()) + self.env.now
self.seq = [0, 2, 9, 1, 3, 6, 7, 4, 8, 10, 5, 11]
self.PT = [0, 13, 16, 17, 7, 14, 19, 13, 9, 12, 20, 0]
elif JT == 2:
#self.DueDate = 452 + self.env.now
#self.DueDate = 339 + self.env.now
#self.DueDate = 226 + self.env.now
self.DueDate = 452*(0.5+np.random.random()) + self.env.now
self.seq = [0, 7, 5, 10, 9, 8, 4, 6, 2, 1, 3, 11]
self.PT = [0, 12, 19, 5, 6, 15, 15, 12, 8, 6, 12, 0]
elif JT == 3:
#self.DueDate = 464 + self.env.now
#self.DueDate = 348 + self.env.now
#self.DueDate = 232 + self.env.now
#self.DueDate = 947 + self.env.now
self.DueDate = 464*(0.5+np.random.random()) + self.env.now
self.seq = [0, 8, 7, 6, 9, 4, 1, 3, 5, 10, 2, 11]
self.PT = [0, 8, 8, 10, 20, 12, 10, 15, 15, 5, 17, 0]
elif JT == 4:
#self.DueDate = 500 + self.env.now
#self.DueDate = 375 + self.env.now
#self.DueDate = 250 + self.env.now
#self.DueDate = 869 + self.env.now
self.DueDate = 500*(0.5+np.random.random()) + self.env.now
self.seq = [0, 3, 10, 4, 2, 8, 6, 5, 9, 7, 1, 11]
self.PT = [0, 8, 20, 14, 19, 17, 18, 9, 20, 6, 8, 0]
elif JT == 5:
#self.DueDate = 472 + self.env.now
#self.DueDate = 354 + self.env.now
#self.DueDate = 236 + self.env.now
#self.DueDate = 1058 + self.env.now
self.DueDate = 472*(0.5+np.random.random()) + self.env.now
self.seq = [0, 5, 1, 3, 8, 9, 7, 2, 10, 4, 6, 11]
self.PT = [0, 20, 13, 12, 7, 9, 10, 8, 16, 6, 16, 0]
elif JT == 6:
#self.DueDate = 558 + self.env.now
#self.DueDate = 419 + self.env.now
#self.DueDate = 279 + self.env.now
#self.DueDate = 1097 + self.env.now
self.DueDate = 558*(0.5+np.random.random()) + self.env.now
self.seq = [0, 8, 3, 10, 4, 9, 2, 1, 6, 7, 5, 11]
self.PT = [0, 6, 14, 19, 14, 20, 12, 16, 17, 14, 6, 0]
elif JT == 7:
#self.DueDate = 460 + self.env.now
#self.DueDate = 345 + self.env.now
#self.DueDate = 230 + self.env.now
#self.DueDate = 965 + self.env.now
self.DueDate = 460*(0.5+np.random.random()) + self.env.now
self.seq = [0, 2, 3, 8, 10, 7, 1, 5, 6, 4, 9, 11]
self.PT = [0, 16, 6, 7, 17, 13, 17, 17, 17, 14, 15, 0]
elif JT == 8:
#self.DueDate = 504 + self.env.now
#self.DueDate = 378 + self.env.now
#self.DueDate = 252 + self.env.now
#self.DueDate = 887 + self.env.now
self.DueDate = 504*(0.5+np.random.random()) + self.env.now
self.seq = [0, 4, 6, 3, 1, 10, 5, 7, 2, 8, 9, 11]
self.PT = [0, 6, 13, 14, 9, 13, 13, 19, 15, 18, 16, 0]
elif JT == 9:
#self.DueDate = 486 + self.env.now
#self.DueDate = 365 + self.env.now
#self.DueDate = 243 + self.env.now
#self.DueDate = 1011 + self.env.now
self.DueDate = 486*(0.5+np.random.random()) + self.env.now
self.seq = [0, 7, 2, 3, 9, 10, 5, 6, 1, 4, 8, 11]
self.PT = [0, 8, 13, 13, 7, 9, 10, 16, 11, 16, 18, 0]
elif JT == 10:
#self.DueDate = 488 + self.env.now
#self.DueDate = 366 + self.env.now
#self.DueDate = 244 + self.env.now
#self.DueDate = 849 + self.env.now
self.DueDate = 488*(0.5+np.random.random()) + self.env.now
self.seq = [0, 3, 4, 1, 5, 10, 9, 2, 6, 8, 7, 11]
self.PT = [0, 13, 18, 19, 6, 5, 19, 19, 6, 9, 18, 0]
def flow(self):
yield self.env.timeout(0)
dp.WID(self.Controller, self, self.Controller.AGV_disRuleW, self.Controller.routRule, self.Controller.Parameter)
self.out_req = self.Controller.stations[0].out_buffer.request()
while self.current_seq < 11:
yield self.Queue
self.current_seq += 1
self.Queue = self.env.event()
yield self.env.timeout(0)
station = self.Controller.stations[self.seq[self.current_seq]]
self.position = station
req = station.resource.request()
station.in_queue.append(self)
station.in_num += 1
yield req
station.processing = self
pt = self.PT[self.current_seq]
station.in_queue.remove(self)
station.in_num -= 1
yield self.env.timeout(pt)
station.processing = 0
self.out_req = station.out_buffer.request()
yield self.out_req
station.out_queue.append(self)
station.out_num += 1
station.resource.release(req)
if self.current_seq != 11:
self.Controller.jobs.append(self)
self.Controller.job_num += 1
dp.WID(self.Controller, self, self.Controller.AGV_disRuleW, self.Controller.routRule, self.Controller.Parameter)
self.Tardiness = max(0, self.env.now - self.DueDate)
self.Tardiness = round(float(self.Tardiness))
self.FlowTime = self.env.now - self.FlowTime
self.Controller.Tardiness.append(self.Tardiness)
#self.Controller.MeanTardiness = np.mean(self.Controller.Tardiness)
self.Controller.FlowTime.append(self.FlowTime)
self.Controller.Throughput += 1
self.Controller.sysJob.remove(self)
self.Controller.status.tardiness.append(self.Tardiness)
self.Controller.status.throughput += 1
#self.Controller.status.meantardiness = np.mean(self.Controller.status.tardiness)
class Station(object):
def __init__(self, env, Controller, id):
self.env = env
self.Controller = Controller
self.ID = id
self.in_queue = []
self.in_num = 0
self.out_queue = []
self.out_num = 0
self.out_cap = 5
self.processing = []
self.cum_PT = 0
self.location(id)
if self.ID != 0 and self.ID != 11:
self.resource = simpy.Resource(self.env, 1)
self.out_buffer = simpy.Resource(self.env, self.out_cap)
else:
self.resource = simpy.Resource(self.env, 1000)
self.out_buffer = simpy.Resource(self.env, 1000)
self.Controller.stations.append(self)
def location(self, ID):
if ID == 0:
self.x = 0
self.y = 2
elif ID == 1:
self.x = 9
self.y = 8
elif ID == 2:
self.x = 5
self.y = 2
elif ID == 3:
self.x = 8
self.y = 2
elif ID == 4:
self.x = 13
self.y = 4
elif ID == 5:
self.x = 13
self.y = 7
elif ID == 6:
self.x = 13
self.y = 10
elif ID == 7:
self.x = 3
self.y = 13
elif ID == 8:
self.x = 6
self.y = 13
elif ID == 9:
self.x = 9
self.y = 13
elif ID == 10:
self.x = 4
self.y = 8
elif ID == 11:
self.x = 0
self.y = 1
class Vehicle(object):
def __init__(self, env, Controller, mesh, id, x, y):
self.ID = id
self.x = x
self.y = y
self.path = 0
self.status = []
self.env = env
self.Controller = Controller
self.create_show()
self.mesh = mesh
self.redet = self.env.event()
self.Redet = False
self.env.process(self.nevigation())
self.Waiting = self.env.event()
self.wait = self.env.process(self.redetect())
#
self.content = 0
self.nextpath = 0
self.Goal = 0
self.Parking = False
self.Charging = False
self.Electricity = np.random.uniform(0.5, 1)
self.Controller.AGVs.append(self)
self.Controller.IV.append(self)
self.Controller.IV_num += 1
#Stats
self.startIdle = True
self.IdleTime = 0
self.Idling = False
def nevigation(self):
self.req_ori = self.mesh[self.x][self.y].request()
yield self.req_ori
#print("Vehicle ", self.ID, " now at ", [self.x, self.y], " (Time: ", self.env.now, ")")
dp.VID(self.Controller, self, self.Controller.AGV_disRuleV, self.Controller.routRule, self.Controller.Parameter)
while True:
if self.status != []:
if self.status[0] == 1:
nextpos = [self.x, self.y+1]
elif self.status[0] == 2:
nextpos = [self.x, self.y-1]
elif self.status[0] == 3:
nextpos = [self.x-1, self.y]
elif self.status[0] == 4:
nextpos = [self.x+1, self.y]
if self.detect(self.mesh[nextpos[0]][nextpos[1]].users):
yield self.env.timeout(0)
if self.status == []:
nextpos = [self.x, self.y]
elif self.status[0] == 1:
nextpos = [self.x, self.y+1]
elif self.status[0] == 2:
nextpos = [self.x, self.y-1]
elif self.status[0] == 3:
nextpos = [self.x-1, self.y]
elif self.status[0] == 4:
nextpos = [self.x+1, self.y]
self.Redet = False
self.req_tar = self.mesh[nextpos[0]][nextpos[1]].request()
self.redet.succeed()
#self.req_ori.append(req_tar)
yield self.req_tar | self.Waiting
self.Waiting = self.env.event()
self.wait.interrupt()
if self.Redet:
#if False:
#self.Redet = False
if self.req_tar in self.mesh[nextpos[0]][nextpos[1]].users:
self.mesh[nextpos[0]][nextpos[1]].release(self.req_tar)
if self.req_tar in self.mesh[nextpos[0]][nextpos[1]].queue:
self.mesh[nextpos[0]][nextpos[1]].queue.remove(self.req_tar)
#self.req_tar.pop(0)
else:
self.Redet = False
for i in range(self.Controller.split):
yield self.env.timeout(1/self.Controller.split)
if self.status != []:
self.moving(self.status[0])
#yield self.env.timeout(1)
self.mesh[self.x][self.y].release(self.req_ori)
self.x = nextpos[0]
self.y = nextpos[1]
self.req_ori = self.req_tar
if self.status != []:
self.status.pop(0)
#print("Vehicle ", self.ID, " now at ", [self.x, self.y], " (Time: ", self.env.now, ")")
#AGV load job
elif self.nextpath != 0:
yield self.env.timeout(1)
self.content = self.Goal
self.content.position.out_buffer.release(self.content.out_req)
self.Goal = 0
self.content.position.out_num -= 1
self.content.position.out_queue.remove(self.content)
self.content.position = self
self.path = self.nextpath
self.status = self.path.direct
self.nextpath = 0
#AGV Unload job
elif self.content != 0:
yield self.env.timeout(1)
self.content.Queue.succeed()
self.Controller.IV_num += 1
self.Controller.IV.append(self)
self.Controller.Rtravel -= 1
self.content = 0
if self.Electricity > 1/20:
dp.VID(self.Controller, self, self.Controller.AGV_disRuleV, self.Controller.routRule, self.Controller.Parameter)
else:
self.Charging = True
self.Controller.IV_num -= 1
self.Controller.IV.remove(self)
self.path = sp([self.x, self.y], [self.Controller.Cstation.x\
, self.Controller.Cstation.y]\
, self.Controller.routRule, self.Controller.x-1\
, self.Controller.y-1, self.Controller.BLOCK, self, self.Controller.Parameter)
self.status = self.path.direct
self.startIdle = self.Controller.Time
self.Idling = self.Controller.Time
#Start Charging
elif self.Charging:
yield self.env.timeout(300)
self.Electricity = 1
self.Charging = False
self.Controller.IV_num += 1
self.Controller.IV.append(self)
#Start Parking
elif self.Parking:
self.Parking = False
self.Controller.IV_num += 1
self.Controller.IV.append(self)
self.content = 0
#dp.VID(self.Controller, self, self.Controller.AGV_disRule, self.Controller.routRule, self.Controller.Parameter)
self.startIdle = self.Controller.Time
self.Idling = self.Controller.Time
else:
#dp.VID(self.Controller, self, self.Controller.AGV_disRuleV, self.Controller.routRule, self.Controller.Parameter)
#yield self.env.timeout(1)
if self.Electricity > 1/20:
yield self.env.timeout(1)
else:
self.Charging = True
self.Controller.IV_num -= 1
self.Controller.IV.remove(self)
self.path = sp([self.x, self.y], [self.Controller.Cstation.x\
, self.Controller.Cstation.y]\
, self.Controller.routRule, self.Controller.x-1\
, self.Controller.y-1, self.Controller.BLOCK, self, self.Controller.Parameter)
self.status = self.path.direct
self.startIdle = self.Controller.Time
self.Idling = self.Controller.Time
def detect(self, req):
sensor = False
if req != []:
for i in range(self.Controller.AGV_num):
if self.Controller.AGVs[i].req_ori == req[0]:
V1 = self
V2 = self.Controller.AGVs[i]
self.deadlock_resolve(V1, V2)
'''
for j in self.Controller.AGVs[i].req_ori:
if req[0] == j:
V1 = self
V2 = self.Controller.AGVs[i]
self.deadlock_resolve(V1, V2)
'''
sensor = True
return sensor
def redetect(self):
while True:
try:
yield self.redet
self.redet = self.env.event()
yield self.env.timeout(2)
self.Redet = True
self.Waiting.succeed()
except simpy.Interrupt:
self.redet = self.env.event()
def deadlock_resolve(self, V1, V2):
toward = V1.status[0]
if toward == 1:
anti = 2
if V1.x-1>=0 and [V1.x-1, V1.y] not in self.Controller.BLOCK:
swap = 3
swap2 = 4
elif V1.x+1<V1.Controller.x and [V1.x+1, V1.y] not in self.Controller.BLOCK:
swap = 4
swap2 = 3
elif toward == 2:
anti = 1
if V1.x+1<V1.Controller.x and [V1.x+1, V1.y] not in self.Controller.BLOCK:
swap = 4
swap2 = 3
elif V1.x-1>=0 and [V1.x-1, V1.y] not in self.Controller.BLOCK:
swap = 3
swap2 = 4
elif toward == 3:
anti = 4
if V1.y+1<V1.Controller.y and [V1.x, V1.y+1] not in self.Controller.BLOCK:
swap = 1
swap2 = 2
elif V1.y-1>=0 and [V1.x,V1.y-1] not in self.Controller.BLOCK:
swap = 2
swap2 = 1
elif toward == 4:
anti = 3
if V1.y-1>=0 and [V1.x,V1.y-1] not in self.Controller.BLOCK:
swap = 2
swap2 = 1
elif V1.y+1<V1.Controller.y and [V1.x,V1.y+1] not in self.Controller.BLOCK:
swap = 1
swap2 = 2
checkpoint = [[V1.x, V1.y+1], [V1.x, V1.y-1], [V1.x-1, V1.y], [V1.x+1, V1.y]]
block = []
for i in checkpoint:
if i[0] < self.Controller.x and i[1] < self.Controller.y and i[0]>=0 and i[1]>=0:
if self.mesh[i[0]][i[1]].users != []:
block.append(i)
if V2.status != []:
if V2.status[0] == anti or self.Redet:
ori1 = sp([V1.x, V1.y], V1.path.path[len(V1.path.path)-1], self.Controller.routRule, self.Controller.x-1, self.Controller.y-1, []+self.Controller.BLOCK, V1, self.Controller.Parameter).distance
ori2 = sp([V2.x, V2.y], V2.path.path[len(V2.path.path)-1], self.Controller.routRule, self.Controller.x-1, self.Controller.y-1, []+self.Controller.BLOCK, V2, self.Controller.Parameter).distance
if V1.path.path[len(V1.path.path)-1] in block or len(block)>=3:
modi1 = 9999
else:
modi1 = sp([V1.x, V1.y], V1.path.path[len(V1.path.path)-1], self.Controller.routRule, self.Controller.x-1, self.Controller.y-1, block+self.Controller.BLOCK, V1, self.Controller.Parameter).distance
checkpoint = [[V2.x, V2.y+1], [V2.x, V2.y-1], [V2.x-1, V1.y], [V2.x+1, V2.y]]
block2 = []
for i in checkpoint:
if i[0] < self.Controller.x and i[1] < self.Controller.y and i[0] >= 0 and i[1] >= 0:
if self.mesh[i[0]][i[1]].users != []:
block2.append(i)
if V2.path.path[len(V2.path.path)-1] in block2 or len(block2)>=3:
modi2 = 9999
else:
modi2 = sp([V2.x, V2.y], V2.path.path[len(V2.path.path)-1], self.Controller.routRule, self.Controller.x-1, self.Controller.y-1, block2+self.Controller.BLOCK, V2, self.Controller.Parameter).distance
diff1 = modi1-ori1
diff2 = modi2-ori2
if diff1 <= diff2 and V1.path.path[len(V1.path.path)-1] not in block and len(block)<4:
#if True:
tmp = sp([V1.x, V1.y], V1.path.path[len(V1.path.path)-1], self.Controller.routRule, self.Controller.x-1, self.Controller.y-1, block+self.Controller.BLOCK, V1, self.Controller.Parameter)
if tmp.path !=[]:
V1.path = tmp
V1.status = V1.path.direct
if self.Redet:
if V1.path.path != [] and V1.path.path[len(V1.path.path)-1] == [V2.x, V2.y]:
#if V1.path.path != [] and V1.path.path[len(V1.path.path)-1] == [V2.x, V2.y] and V2.path.path[len(V2.path.path)-1] == [V1.x, V1.y]:
V1.status.insert(0, swap2)
V1.status.insert(0, swap)
else:
if V1.path.path[len(V1.path.path)-1] not in block and len(block)<3:
V1.path = sp([V1.x, V1.y], V1.path.path[len(V1.path.path)-1], self.Controller.routRule, self.Controller.x-1, self.Controller.y-1, block+self.Controller.BLOCK, V1, self.Controller.Parameter)
V1.status = V1.path.direct
elif V1.path.path[len(V1.path.path)-1] in block:
V2.path = sp([V2.x, V2.y], [V2.Controller.Cstation.x\
, V2.Controller.Cstation.y]\
, V2.Controller.routRule, V2.Controller.x-1, V2.Controller.y-1, V2.Controller.BLOCK, V2, V2.Controller.Parameter)
if V2 in V2.Controller.IV:
V2.status = V2.path.direct
V2.Parking = True
V2.Controller.IV.remove(V2)
V2.Controller.IV_num -= 1
def create_show(self):
#AGVs
p = [(self.Controller.Origin[0]+self.x)*self.Controller.unit, (self.Controller.Origin[1]+self.Controller.Hight-self.y)*self.Controller.unit]
p1 = [(self.Controller.Origin[0]-0.4+self.x)*self.Controller.unit, (self.Controller.Origin[1]+self.Controller.Hight-0.4-self.y)*self.Controller.unit]
p2 = [(self.Controller.Origin[0]+0.4+self.x)*self.Controller.unit, (self.Controller.Origin[1]+self.Controller.Hight+0.4-self.y)*self.Controller.unit]
self.Show = self.Controller.canvas.create_oval(p1[0], p1[1], p2[0], p2[1], fill = "purple")
self.show = self.Controller.canvas.create_text(p[0], p[1], text = "A" + str(self.ID), font = ("arial", 10), fill = "yellow")
def moving(self, action):
base_action = [0, 0]
if action == 1:
base_action = [0, -1]
elif action == 2:
base_action = [0, 1]
elif action == 3:
base_action = [-1, 0]
elif action == 4:
base_action = [1, 0]
dist = self.Controller.unit/self.Controller.split
self.Controller.canvas.move(self.Show, base_action[0]*dist
, base_action[1]*dist)
self.Controller.canvas.move(self.show, base_action[0]*dist
, base_action[1]*dist)
self.Controller.window.update()
class Charging(object):
def __init__(self, env, Controller, x, y):
self.env = env
self.Controller = Controller
self.x = x
self.y = y
#self.resource = simpy.Resource(self.env, 10)
self.Controller.mesh[self.x][self.y] = simpy.Resource(self.env, 10)
#image
p = [(self.Controller.Origin[0]+self.x)*self.Controller.unit, (self.Controller.Origin[1]+self.Controller.Hight-self.y)*self.Controller.unit]
p1 = [(self.Controller.Origin[0]-0.7+self.x)*self.Controller.unit, (self.Controller.Origin[1]+self.Controller.Hight-0.7-self.y)*self.Controller.unit]
p2 = [(self.Controller.Origin[0]+0.7+self.x)*self.Controller.unit, (self.Controller.Origin[1]+self.Controller.Hight+0.7-self.y)*self.Controller.unit]
self.Show = self.Controller.canvas.create_oval(p1[0], p1[1], p2[0], p2[1], fill = "light blue")
self.show = self.Controller.canvas.create_text(p[0], p[1], text = "C", font = ("arial", 10), fill = "purple")
class Center(object):
def __init__(self, env, x, y, routRule, AGV_num, WS_num, AGV_disRuleV, AGV_disRuleW, Ledispatch = "None", Task = ["None", "None"]):
self.Warmup = 2000
self.Period = 2000
self.env = env
self.Time = 0
self.AGVs = []
self.x = x
self.y = y
self.AGV_num = AGV_num
self.routRule = routRule
self.Parameter = [0.6, 0.3, 0.1, 3, 7]
self.Task = Task
self.FTmatrix = [[0, 15, 5, 8, 15, 18, 21, 20, 17, 14, 10, 1],
[15, 0, 10, 9, 8, 5, 6, 5, 8, 11, 5, 16],
[5, 10, 0, 3, 10, 13, 16, 15, 14, 17, 9, 6],
[8, 9, 3, 0, 7, 10, 13, 14, 13, 16, 10, 9],
[15, 8, 10, 7, 0, 3, 6, 13, 16, 19, 13, 16],
[18, 5, 13, 10, 3, 0, 3, 10, 13, 16, 11, 19],
[21, 6, 16, 13, 6, 3, 0, 7, 10, 13, 11, 22],
[20, 5, 15, 14, 13, 10, 7, 0, 3, 6, 10, 21],
[17, 8, 14, 13, 16, 13, 10, 3, 0, 3, 7, 18],
[14, 11, 17, 16, 19, 16, 13, 6, 3, 0, 6, 15],
[10, 5, 9, 10, 13, 11, 11, 10, 7, 6, 0, 11],
[1, 16, 6, 9, 16, 19, 22, 21, 18, 15, 11, 0]]
PD = [[9, 8], [5, 2], [8, 2], [13, 4], [13, 7], [13, 10], [3, 13], [6, 13], [9, 13], [4, 8]]
self.BLOCK = []
for i in range(len(PD)):
block = PD[i]
if i == 0 or i == 1 or i == 2 or i == 9:
block[1] -= 1
self.BLOCK.append(block)
self.BLOCK.append([block[0] - 1, block[1] - 1])
self.BLOCK.append([block[0] - 1, block[1]])
self.BLOCK.append([block[0], block[1] - 1])
self.BLOCK.append([block[0] + 1, block[1] - 1])
self.BLOCK.append([block[0] + 1, block[1]])
elif i == 6 or i == 7 or i == 8:
block[1] += 2
self.BLOCK.append(block)
self.BLOCK.append([block[0] - 1, block[1] - 1])
self.BLOCK.append([block[0] - 1, block[1]])
self.BLOCK.append([block[0], block[1] - 1])
self.BLOCK.append([block[0] + 1, block[1] - 1])
self.BLOCK.append([block[0] + 1, block[1]])
else:
block[0] += 1
self.BLOCK.append(block)
self.BLOCK.append([block[0], block[1] - 1])
self.BLOCK.append([block[0], block[1] + 1])
self.BLOCK.append([block[0] + 1, block[1] - 1])
self.BLOCK.append([block[0] + 1, block[1]])
self.BLOCK.append([block[0] + 1, block[1] + 1])
self.V1 = 0 #The Vehicle found conflict
self.V2 = 0 #The Vehicle V1 encounter
self.mesh = self.create_path(self.env, x, y, 1, self.BLOCK)
self.speed = 15
#self.env.process(self.Conflict_Controll())
self.env.process(self.TimeCount())
self.env.process(self.Job_arrive())
###
self.Hight = self.y-1
self.Width = self.x-1
self.unit = 40
self.Origin = [3, 2]
self.split = 5
self.BuildFloor()
self.jobs = []
self.job_num = 0
self.Rtravel = 0
self.IV = []
self.IV_num = 0
self.stations = []
self.WS_num = WS_num
self.Tardiness = []
self.MeanTardiness = 0
self.FlowTime = []
self.sysJob = []
self.Makespan = 0
self.Throughput = 0
self.Create_Stations()
self.Create_AGVs()
#self.Create_Jobs()
self.status = Le.Status(self)
self.AGV_disRuleV = 0
self.AGV_disRuleW = 0
if AGV_disRuleV >= 6 or self.Task[0] == "Collect":
self.set_LE(Ledispatch[0], "None", "V")
self.tempV = AGV_disRuleV
if AGV_disRuleW >= 3 or self.Task[1] == "Collect":
self.set_LE("None", Ledispatch[1], "W")
self.tempW = AGV_disRuleW
self.Cstation = Charging(self.env, self, x=0, y=10)
def set_LE(self, LEV, LEW, Type):
if Type == "V":
self.LEV = LEV
elif Type == "W":
self.LEW = LEW
def create_path(self, env, x, y, Capacity, block):
mesh = []
for i in range(y):
temp = []
for j in range(x):
if [i, j] in block:
a = simpy.Resource(env, 1)
temp.append(a)
elif [i, j] in [[9, 8], [5, 2], [8, 2], [13, 4], [13, 7], [13, 10], [3, 13], [6, 13], [9, 13], [4, 8], [0, 1], [0, 2]]:
a = simpy.Resource(env, 1)
temp.append(a)
else:
temp.append(simpy.Resource(env, Capacity))
mesh.append(temp)
return mesh
def Job_arrive(self):
while True:
inter_arrival = np.random.exponential(34)
yield self.env.timeout(inter_arrival)
t = np.random.choice(range(10))
Job(self.env, self, t+1)
'''
while True:
inter_arrival = np.random.exponential(105)
yield self.env.timeout(inter_arrival)
t = np.random.choice(range(10))
Job(self.env, self, t+1)
while True:
inter_arrival = np.random.exponential(36)
yield self.env.timeout(inter_arrival)
t = np.random.choice(range(10))
a = Job(self.env, self, t+1)
a.create2(t+1)
while True:
inter_arrival = np.random.exponential(54)
yield self.env.timeout(inter_arrival)
t = np.random.choice(range(10))
a = Job(self.env, self, t+1)
a.create2(t+1)
'''
def TimeCount(self):
yield self.env.timeout(0)
self.Time = 0
while True > 0:
yield self.env.timeout(1)
self.Time += 1
self.canvas.delete(self.time)
self.TIME = self.canvas.create_text(self.unit\
, 0.5*self.unit, text = "Time:"\
, font = ("arial", 20)\
, fill = "Blue")
self.time = self.canvas.create_text(2.5*self.unit\
, 0.5*self.unit, text = str(round(self.Time))\
, font = ("arial", 20)\
, fill = "Blue")
for i in range(self.split):
yield self.env.timeout(1/self.split)
self.Time += 1/self.split
if self.speed < 50:
time.sleep(1/(self.split*self.speed))
if round(self.Time) == self.Warmup:
if hasattr(self, "LEV") and self.Task[0] != "Collect":
if self.tempV == 6:
s = self.status.Get("v")
else:
s = self.status.Get("V")
self.status.currentstate[0] = s
a = self.LEV.Choose_act(s)
self.status.currentact[0] = a
self.AGV_disRuleV = a
elif self.Task[0] == "Collect":
self.status.currentstate[0] = self.status.Get("V")
self.AGV_disRuleV = self.tempV
else:
self.AGV_disRuleV = self.tempV
if hasattr(self, "LEW") and self.Task[1] != "Collect":
if self.tempW == 3:
s = self.status.Get("w")
else:
s = self.status.Get("W")
self.status.currentstate[1] = s
a = self.LEW.Choose_act(s)
self.status.currentact[1] = a
self.AGV_disRuleW = a
elif self.Task[1] == "Collect":
self.status.currentstate[1] = self.status.Get("W")
self.AGV_disRuleW = self.tempW
else:
self.AGV_disRuleW = self.tempW
self.Tardiness = []
self.status.tardiness = []
if round(self.Time - self.Warmup) % self.Period == 0 and round(self.Time) > self.Warmup:
#Vehicle Initiated LE
if hasattr(self, "LEV") or self.Task[0] == "Collect":
s = self.status.currentstate[0]
s_ = self.status.Get("V")
r = -self.status.meantardiness
if self.Task[0] == "Collect":
self.LEV.Memorize(s, r)
elif self.tempV == 8:
self.AGV_disRuleV = self.LEV.Choose_act(s_)
else:
self.status.currentstate[0] = s_
a = self.status.currentact[0]
self.AGV_disRuleV = self.LEV.Choose_act(s_)
if self.tempV == 6:
s_ = self.status.Get("v")
self.LEV.Learning(s, a, s_, r)
else:
self.LEV.store_transition(s, a, s_, r)
self.status.currentact[0] = self.AGV_disRuleV
if hasattr(self, "LEW") or self.Task[1] == "Collect":
s = self.status.currentstate[1]
s_ = self.status.Get("W")
r = -self.status.meantardiness
if self.Task[1] == "Collect":
self.LEW.Memorize(s, r)
elif self.tempW == 5:
self.AGV_disRuleW = self.LEW.Choose_act(s_)
else:
self.status.currentstate[1] = s_
a = self.status.currentact[1]
self.AGV_disRuleW = self.LEW.Choose_act(s_)
if self.tempW == 3:
s_ = self.status.Get("w")
self.LEW.Learning(s, a, s_, r)
else:
self.LEW.store_transition(s, a, s_, r)
self.status.currentact[1] = self.AGV_disRuleW
self.status.tardiness = []
self.status.throughput = 0
self.status.meantardiness = 0
for i in self.AGVs:
i.Electricity -= 1/7200
if round(self.Time - self.Warmup) % 500 == 0:
tard = copy.deepcopy(self.Tardiness)
tard1 = copy.deepcopy(self.status.tardiness)
for i in self.sysJob:
tard.append(max(0, self.env.now - i.DueDate))
tard1.append(max(0, self.env.now - i.DueDate))
self.MeanTardiness = np.mean(tard)
self.status.meantardiness = np.mean(tard1)
def Create_Stations(self):
for i in range(self.WS_num):
Station(self.env, self, i)
def Create_AGVs(self):
for i in range(self.AGV_num):
Vehicle(self.env, self, self.mesh, i+1, x = 0, y = 10)
def Create_Jobs(self):
for i in range(10):
Job(self.env, self, i+1)
def BuildFloor(self):
self.window = tk.Tk()
self.window.title("Flexible Manufacturing System")
self.window.geometry("{1}x{1}".format((self.Hight+4)*self.unit
, (self.Width+5)*self.unit))
self.canvas = tk.Canvas(bg = "white", height = (self.Hight+5)\
*self.unit, width = (self.Width+5)*self.unit)
#Grid Layout
for c in range(0, (self.Width*self.unit+1), self.unit):
x0, y0, x1, y1 = self.Origin[0]*self.unit+c, self.Origin[1]*self.unit\
, self.Origin[0]*self.unit+c, (self.Hight+self.Origin[1])\
*self.unit
self.canvas.create_line(x0, y0, x1, y1)
for r in range(0, (self.Hight*self.unit+1), self.unit):
x0, y0, x1, y1 = self\
.Origin[0]*self.unit, self.Origin[1]*self.unit+r\
, (self.Width+self.Origin[0])*self.unit\
, self.Origin[1]*self.unit+r
self.canvas.create_line(x0, y0, x1, y1)
#Loading Point
L = [[0, 2]]
for i in range(len(L)):
p1 = [(self.Origin[0]+L[i][0])*self.unit-5, (self.Origin[1]+self.Hight-L[i][1])\
*self.unit-5]
p2 = [(self.Origin[0]+L[i][0])*self.unit+5, (self.Origin[1]+self.Hight-L[i][1])\
*self.unit+5]
self.canvas.create_oval(p1[0], p1[1], p2[0], p2[1], fill = "blue")
#Unloading Point
U = [[0, 1]]
for i in range(len(U)):
p1 = [(self.Origin[0]+U[i][0])*self.unit-5, (self.Origin[1]+self.Hight-U[i][1])\
*self.unit-5]
p2 = [(self.Origin[0]+U[i][0])*self.unit+5, (self.Origin[1]+self.Hight-U[i][1])\
*self.unit+5]
self.canvas.create_oval(p1[0], p1[1], p2[0], p2[1], fill = "green")
#P/D Point
PD = [[9, 8], [5, 2], [8, 2], [13, 4], [13, 7], [13, 10], [3, 13], [6, 13], [9, 13], [4, 8]]
for i in range(len(PD)):
p1 = [(self.Origin[0]+PD[i][0])*self.unit-5, (self.Origin[1]\
+self.Hight-PD[i][1])*self.unit-5]
p2 = [(self.Origin[0]+PD[i][0])*self.unit+5, (self.Origin[1]\
+self.Hight-PD[i][1])*self.unit+5]
self.canvas.create_oval(p1[0], p1[1], p2[0], p2[1], fill = "black")
#AS/RS
p = [1.5*self.unit, (self.Origin[1]+self.Hight*3/4+1)*self.unit]
p1 = [2.5*self.unit, (self.Origin[1]+self.Hight*3/4+4)*self.unit]
p2 = [0.5*self.unit, (self.Origin[1]+self.Hight*3/4-2)*self.unit]
self.canvas.create_rectangle(p1[0], p1[1], p2[0], p2[1]\
, fill = "yellow")
self.canvas.create_text(p[0], p[1], text = "AS/RS"
, font = ("arial", 12), fill = "black")
#Workstations
for i in range(len(PD)):
if i == 0 or i == 1 or i == 2 or i == 9:
PD[i][1] -= 1.5
elif i == 3 or i == 4 or i == 5:
PD[i][0] += 1.5
else:
PD[i][1] += 1.5
for i in range(len(PD)):
p = [(self.Origin[0]+PD[i][0])*self.unit, (self.Origin[1]\
+self.Hight-PD[i][1])*self.unit]
if i == 3 or i == 4 or i == 5:
p1 = [(self.Origin[0]+PD[i][0]-1)*self.unit, (self.Origin[1]\
+self.Hight-PD[i][1]-1.5)\
*self.unit]
p2 = [(self.Origin[0]+PD[i][0]+1)*self.unit, (self.Origin[1]\
+self.Hight-PD[i][1]+1.5)\
*self.unit]
else:
p1 = [(self.Origin[0]+PD[i][0]-1.5)*self.unit, (self.Origin[1]\
+self.Hight-PD[i][1]-1)\
*self.unit]
p2 = [(self.Origin[0]+PD[i][0]+1.5)*self.unit, (self.Origin[1]\
+self.Hight-PD[i][1]+1)\
*self.unit]
self.canvas.create_rectangle(p1[0], p1[1], p2[0], p2[1]\
, fill = "orange")
self.canvas.create_text(p[0], p[1], text = "W"+str(i+1)\
, font = ("arial", 15), fill = "black")
self.time = self.canvas.create_text(2.5*self.unit\
, 0.5*self.unit, text = ""\
, font = ("arial", 20)\
, fill = "Blue")
self.canvas.pack()
'''
env = simpy.rt.RealtimeEnvironment(factor = 0.5, strict=False)
Controller = Center(env, Hight+1, Width+1, 1)
Controller.fms = 0
Controller.create_task([1, 7], [1, 1])
Controller.create_task([6, 2], [0, 2])
Controller.create_task([1, 1], [1, 7])
env.run()
'''