def get_new_runner(self,
mp: 'Map',
algorithm_type: Type['Algorithm'],
algorithm_parameters: Tuple[List, Dict] = None,
algorithm_testing: Optional[
Type['BasicTesting']] = None,
with_animations: bool = False) -> 'AlgorithmRunner':
if not algorithm_parameters:
algorithm_parameters = [], {}
from simulator.services.services import Services
config = Configuration()
config.simulator_initial_map = mp
config.simulator_algorithm_type = algorithm_type
config.simulator_testing_type = algorithm_testing
config.simulator_algorithm_parameters = algorithm_parameters
if with_animations and algorithm_testing:
config.simulator_graphics = True
config.simulator_key_frame_speed = self._services.settings.simulator_key_frame_speed
config.simulator_key_frame_skip = self._services.settings.simulator_key_frame_skip
s = Services(config)
if with_animations and algorithm_testing:
s.algorithm.__pass_root_key_frame = self.__pass_root_key_frame
return s.algorithm
def augment_label_maps(self, atlases: List[str], feature_list: List[str], label_list: List[str],
single_feature_list: List[str], single_label_list: List[str]) -> None:
if not atlases:
return
self.__services.debug.write("""Starting Augmentation: [
atlases: {},
feature_list: {},
label_list: {},
single_feature_list: {},
single_label_list: {}
]
""".format(atlases, feature_list, label_list, single_feature_list, single_label_list), DebugLevel.BASIC)
label_atlas_name = "training_" + "_".join(atlases)
self.__services.debug.write("Loading maps", DebugLevel.BASIC)
maps: List[Map] = []
for name in atlases:
maps = maps + self.__services.resources.maps_dir.get_atlas(name).load_all()
self.__services.debug.write("Loading atlas", DebugLevel.BASIC)
t: List[Dict[str, any]] = self.__services.resources.training_data_dir.load(label_atlas_name)
progress_bar: Progress = self.__services.debug.progress_debug(len(t), DebugLevel.BASIC)
progress_bar.start()
for i in range(len(t)):
config = Configuration()
config.simulator_algorithm_type = AStar
config.simulator_testing_type = AStarTesting
config.simulator_initial_map = maps[i]
services: Services = Services(config)
simulator: Simulator = Simulator(services)
testing: AStarTesting = simulator.start()
if feature_list:
seq_features = MapProcessing.get_sequential_features(testing.map, feature_list)
for q in range(len(t[i]["features"])):
t[i]["features"][q].update(seq_features[q])
if label_list:
seq_labels = MapProcessing.get_sequential_labels(testing.map, label_list)
for q in range(len(t[i]["labels"])):
# print(q)
t[i]["labels"][q].update(seq_labels[q])
if single_feature_list:
t[i]["single_features"].update(MapProcessing.get_single_features(maps[i], single_feature_list))
if single_label_list:
t[i]["single_labels"].update(MapProcessing.get_single_labels(maps[i], single_label_list))
progress_bar.step()
self.__services.debug.write("Saving atlas augmentation: " + str(label_atlas_name), DebugLevel.BASIC)
self.__services.resources.training_data_dir.save(label_atlas_name, t)
self.__services.debug.write("Finished atlas augmentation: " + str(label_atlas_name) + "\n", DebugLevel.BASIC)
def __label_single_maps(self, atlas_name, feature_list: List[str], label_list: List[str],
single_feature_list: List[str], single_label_list: List[str], overwrite: bool) -> List[
Dict[str, any]]:
"""
Passed atlas name, feature list, label list, and returns res object with the map features labelled for training
"""
if not atlas_name:
return []
if not overwrite and self.__services.resources.training_data_dir.exists("training_" + atlas_name, ".pickle"):
self.__services.debug.write("Found in training data. Loading from training data", DebugLevel.BASIC)
return self.__services.resources.training_data_dir.load("training_" + atlas_name)
self.__services.debug.write("Loading maps", DebugLevel.BASIC)
maps: List[Map] = self.__services.resources.maps_dir.get_atlas(atlas_name).load_all()
res: List[Dict[str, any]] = []
progress_bar: Progress = self.__services.debug.progress_debug(len(maps), DebugLevel.BASIC)
progress_bar.start()
# process atlas
for m in maps:
config = Configuration()
config.simulator_algorithm_type = AStar
config.simulator_testing_type = AStarTesting
config.simulator_initial_map = m
services: Services = Services(config)
simulator: Simulator = Simulator(services)
testing: AStarTesting = simulator.start()
features: Dict[str, any] = {}
arg: str
for arg in ["map_obstacles_percentage",
"goal_found",
"distance_to_goal",
"original_distance_to_goal",
"trace",
"total_steps",
"total_distance",
"total_time",
"algorithm_type",
"fringe",
"search_space"
]:
features[arg] = testing.get_results()[arg]
features["features"] = MapProcessing.get_sequential_features(testing.map, feature_list)
features["labels"] = MapProcessing.get_sequential_labels(testing.map, label_list)
features["single_features"] = MapProcessing.get_single_features(m, single_feature_list)
features["single_labels"] = MapProcessing.get_single_labels(m, single_label_list)
res.append(features)
progress_bar.step()
return res
def __start_simulator_callback(gui): #Setting the configuration file.
config = Configuration()
mp = gui.__maps[gui.__map_choice.get()]
algo = gui.__algorithms[gui.__algorithm_choice.get()]
ani = gui.__animations[gui.__animations_choice.get()]
debug = gui.__debug[gui.__debug_choice.get()]
config.load_simulator = True
config.simulator_graphics = True
config.simulator_initial_map, config.simulator_grid_display = mp
config.simulator_algorithm_type, config.simulator_testing_type, config.simulator_algorithm_parameters = algo
config.simulator_key_frame_speed, config.simulator_key_frame_skip = ani
config.simulator_write_debug_level = debug
MainRunner(config).run()
def __run_simulation(self,
grid: Map,
algorithm_type: Type[Algorithm],
testing_type: Type[BasicTesting],
algo_params: Tuple[list, dict],
agent_pos: Point = None) -> Dict[str, Any]:
config = Configuration()
config.simulator_initial_map = copy.deepcopy(grid)
config.simulator_algorithm_type = algorithm_type
config.simulator_testing_type = testing_type
config.simulator_algorithm_parameters = algo_params
if agent_pos:
config.simulator_initial_map.move_agent(agent_pos, True, False)
sim: Simulator = Simulator(Services(config))
return sim.start().get_results()
sim_start = False config.generator_house_expo = False analyzer_start = False config.generator_size = 64 # Change the size of the maps generated # Cache config.clear_cache = True # Generator mp = maps[chosen_map] # Chooses map for generation # Simulator config.load_simulator = sim_start config.simulator_graphics = False config.simulator_initial_map = mp config.simulator_algorithm_type, config.simulator_testing_type, config.simulator_algorithm_parameters = algo config.simulator_key_frame_speed, config.simulator_key_frame_skip = ani config.simulator_write_debug_level = debug # These are for training config.generator_labelling_features = labelling[training_algo][0] config.generator_labelling_labels = labelling[training_algo][1] config.generator_single_labelling_features = labelling[training_algo][2] config.generator_single_labelling_labels = labelling[training_algo][3] config.generator_aug_labelling_features = [] config.generator_aug_labelling_labels = [] config.generator_aug_single_labelling_features = [] config.generator_aug_single_labelling_labels = [] config.generator_modify = None