def VisualizeSimData(icList,allplans=False,showtraffic=True,xmin=-100,ymin=-100,xmax=100,ymax=100,interval=30,record=False,filename=""):
'''
ic: icarous object
allplans: True - plot all computed plans, False - plot only the mission plan
xmin,ymin : plot axis min values
xmax,ymax : plot axis max values
interval : Interval between frames
'''
if record:
import matplotlib; matplotlib.use('Agg')
from Animation import AgentAnimation
anim= AgentAnimation(xmin,ymin, xmax,ymax,interval,record,filename)
vehicleSize1 = np.abs(xmax - xmin)/100
vehicleSize2 = np.abs(ymax - ymin)/100
vehicleSize = np.max([vehicleSize1,vehicleSize2])
for j,ic in enumerate(icList):
anim.AddAgent('ownship'+str(j),vehicleSize,'r',ic.ownshipLog,show_circle=True,circle_rad=ic.daa_radius)
for i,pln in enumerate(ic.localPlans):
if i == 0:
anim.AddPath(np.array(pln),'k--')
if i > 0 and allplans:
anim.AddPath(np.array(pln),'k--')
tfids = ic.trafficLog.keys()
if showtraffic:
for key in tfids:
anim.AddAgent('traffic'+str(key),vehicleSize,'b',ic.trafficLog[key])
for fence in ic.localFences:
fence.append(fence[0])
anim.AddFence(np.array(fence),'c-.')
for fix in icList[0].localMergeFixes:
anim.AddZone(fix[::-1][1:3],icList[0].params['COORD_ZONE'],'r')
anim.AddZone(fix[::-1][1:3],icList[0].params['SCHEDULE_ZONE'],'b')
anim.AddZone(fix[::-1][1:3],icList[0].params['ENTRY_RADIUS'],'g')
anim.run()
def VisualizeSimData(icList,allplans=False,showpaths=True,showtrace=True,showtraffic=True,xmin=-100,ymin=-100,xmax=100,ymax=100,playbkspeed=1,interval=30,record=False,filename="",network=[]):
'''
ic: icarous object
allplans: True - plot all computed plans, False - plot only the mission plan
xmin,ymin : plot axis min values
xmax,ymax : plot axis max values
interval : Interval between frames
'''
if record:
import matplotlib; matplotlib.use('Agg')
from Animation import AgentAnimation
anim= AgentAnimation(xmin,ymin, xmax,ymax,showtrace,playbkspeed,interval,record,filename)
vehicleSize1 = np.abs(xmax - xmin)/100
vehicleSize2 = np.abs(ymax - ymin)/100
vehicleSize = np.max([vehicleSize1,vehicleSize2])
homePos = icList[0].home_pos
getLocPos = lambda pos: np.array(ConvertToLocalCoordinates(homePos,pos))
for j,ic in enumerate(icList):
anim.AddAgent(ic.callsign,vehicleSize,'r',ic.ownshipLog,show_circle=True,circle_rad=ic.daa_radius)
for i,pln in enumerate(ic.plans):
planTime = pln[0][0]
planPositions = np.array(GetPlanPositions(ic.plans[i],0.1))
points = np.array(list(map(getLocPos,planPositions)))
if i == 0:
planWPs = np.array(pln)[:,1:]
labels = [[TcpType.getString(val[3]),TcpType.getString(val[4]),TcpType.getString(val[5])]\
for val in planWPs]
if showpaths:
anim.AddPath(np.array(list(map(getLocPos,planWPs))),'k--',points,labels,time=planTime)
if i > 0 and allplans:
planWPs = np.array(pln)[:,1:]
if showpaths:
anim.AddPath(np.array(list(map(getLocPos,planWPs))),'k--',points,time=planTime)
tfids = ic.trafficLog.keys()
for key in tfids:
if showtraffic or key[0:2] == 'tf':
anim.AddAgent('traffic_'+str(key),vehicleSize,'b',ic.trafficLog[key])
for fence in ic.localFences:
fence.append(fence[0])
anim.AddFence(np.array(fence),'c-.')
for fix in icList[0].localMergeFixes:
anim.AddZone(fix[::-1][1:3],icList[0].params['COORD_ZONE'],'r')
anim.AddZone(fix[::-1][1:3],icList[0].params['SCHEDULE_ZONE'],'b')
anim.AddZone(fix[::-1][1:3],icList[0].params['ENTRY_RADIUS'],'g')
for plan in network:
planWPs = np.array(plan)[:,1:]
anim.AddPath(np.array(list(map(getLocPos,planWPs))),'k--',color2='k')
anim.run()
def VisualizeSimDataOptimal(icList,scenario_time, scenario,allplans=True,showtraffic=True,xmin=-100,ymin=-100,xmax=100,ymax=100,playbkspeed=1,interval=30,record=False,filename=""):
'''
ic: icarous object
allplans: True - plot all computed plans, False - plot only the mission plan
xmin,ymin : plot axis min values
xmax,ymax : plot axis max values
interval : Interval between frames
'''
if record:
import matplotlib; matplotlib.use('Agg')
from Animation import AgentAnimation
anim = AgentAnimation(xmin,ymin, xmax,ymax,icList[0].ownshipLog,scenario, scenario_time,playbkspeed,interval,record,filename)
#scenario = ScenarioClass(scenario)
vehicleSize1 = np.abs(xmax - xmin)/3000
vehicleSize2 = np.abs(ymax - ymin)/3000
vehicleSize = np.max([vehicleSize1,vehicleSize2])
#Tentativa de adicionar o mapa de custos
anim.AddCostMap(scenario.mapgen,xmin,xmax,ymin,ymax)
anim.AddObstacles(scenario)
anim.AddZoom()
anim.AddWaypoint()
anim.AddStartGoal()
for j,ic in enumerate(icList):
anim.AddAgent('ownship'+str(j),vehicleSize,'r',ic.ownshipLog,show_circle=True,circle_rad=ic.daa_radius)
#for i,pln in enumerate(ic.localPlans):
# pln_aux = []
# for k, vec in enumerate(pln):
# vec[1] = ic.localCoords[k][0]
# vec[2] = ic.localCoords[k][1]
# pln_aux.append(vec)
# if i == 0:
# anim.AddPath(np.array(pln_aux),'k--')
# if i > 0 and allplans:
# anim.AddPath(np.array(pln_aux),'k--')
tfids = ic.trafficLog.keys()
if showtraffic:
for key in tfids:
anim.AddAgent('traffic'+str(key),vehicleSize,'b',ic.trafficLog[key])
for fence in ic.localFences:
fence.append(fence[0])
anim.AddFence(np.array(fence),'c-.')
for fix in icList[0].localMergeFixes:
anim.AddZone(fix[::-1][1:3],icList[0].params['COORD_ZONE'],'r')
anim.AddZone(fix[::-1][1:3],icList[0].params['SCHEDULE_ZONE'],'b')
anim.AddZone(fix[::-1][1:3],icList[0].params['ENTRY_RADIUS'],'g')
anim.run()