class Ui_nodeLibraryView(object):
def setupUi(self, nodeLibraryView):
nodeLibraryView.setObjectName(_fromUtf8("nodeLibraryView"))
nodeLibraryView.resize(447, 443)
self.verticalLayout = QtGui.QVBoxLayout(nodeLibraryView)
self.verticalLayout.setObjectName(_fromUtf8("verticalLayout"))
self.horizontalLayout = QtGui.QHBoxLayout()
self.horizontalLayout.setObjectName(_fromUtf8("horizontalLayout"))
self.btn_reload = QtGui.QPushButton(nodeLibraryView)
self.btn_reload.setMinimumSize(QtCore.QSize(60, 20))
self.btn_reload.setMaximumSize(QtCore.QSize(60, 20))
self.btn_reload.setObjectName(_fromUtf8("btn_reload"))
self.horizontalLayout.addWidget(self.btn_reload)
spacerItem = QtGui.QSpacerItem(40, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.horizontalLayout.setStretch(1, 1)
self.verticalLayout.addLayout(self.horizontalLayout)
self.nodeList = NodeList(nodeLibraryView)
self.nodeList.setObjectName(_fromUtf8("nodeList"))
self.verticalLayout.addWidget(self.nodeList)
self.verticalLayout.setStretch(1, 1)
self.retranslateUi(nodeLibraryView)
QtCore.QObject.connect(self.btn_reload, QtCore.SIGNAL(_fromUtf8("clicked()")), nodeLibraryView.onReload)
QtCore.QMetaObject.connectSlotsByName(nodeLibraryView)
def retranslateUi(self, nodeLibraryView):
nodeLibraryView.setWindowTitle(QtGui.QApplication.translate("nodeLibraryView", "Form", None, QtGui.QApplication.UnicodeUTF8))
self.btn_reload.setText(QtGui.QApplication.translate("nodeLibraryView", "Reload", None, QtGui.QApplication.UnicodeUTF8))
def setupUi(self, nodeLibraryView):
nodeLibraryView.setObjectName(_fromUtf8("nodeLibraryView"))
nodeLibraryView.resize(447, 443)
self.verticalLayout = QtModule.QVBoxLayout(nodeLibraryView)
self.verticalLayout.setSpacing(0)
self.verticalLayout.setContentsMargins(2, 2, 2, 0)
self.verticalLayout.setObjectName(_fromUtf8("verticalLayout"))
self.horizontalLayout = QtModule.QHBoxLayout()
self.horizontalLayout.setSpacing(-1)
self.horizontalLayout.setContentsMargins(8, -1, 8, -1)
self.horizontalLayout.setObjectName(_fromUtf8("horizontalLayout"))
self.btn_reload = QtModule.QPushButton(nodeLibraryView)
self.btn_reload.setMinimumSize(QtCore.QSize(60, 20))
self.btn_reload.setMaximumSize(QtCore.QSize(60, 20))
self.btn_reload.setObjectName(_fromUtf8("btn_reload"))
self.horizontalLayout.addWidget(self.btn_reload)
spacerItem = QtModule.QSpacerItem(40, 20, QtModule.QSizePolicy.Expanding, QtModule.QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.horizontalLayout.setStretch(1, 1)
self.verticalLayout.addLayout(self.horizontalLayout)
self.nodeList = NodeList(nodeLibraryView)
self.nodeList.setObjectName(_fromUtf8("nodeList"))
self.verticalLayout.addWidget(self.nodeList)
self.verticalLayout.setStretch(1, 1)
self.retranslateUi(nodeLibraryView)
if usePyQt4 :
QtCore.QObject.connect(self.btn_reload, QtCore.SIGNAL(_fromUtf8("clicked()")), nodeLibraryView.onReload)
else :
self.btn_reload.clicked.connect( nodeLibraryView.onReload)
QtCore.QMetaObject.connectSlotsByName(nodeLibraryView)
def __init__(self):
self.__map = Map()
self.__map.loadMap("test1.map")
self.__mapSurface = self.__map.getMapSurface()
self.__drone = Drone(5, 5)
self.__nodeList = NodeList(self.__map)
self.__placeDroneOnEmptyPosition()
self.__pheromoneTable = [[1.0 for _ in range(Constants.NODE_COUNT)]
for _ in range(Constants.NODE_COUNT)]
self.__distanceTable = self.__nodeList.getDistanceBetweenNodes()
def __computeProbabilityOfChoosingNextNode(self, possibleMoves, alpha,
beta, distanceTable,
pheromoneTable):
currentNodeIndex = self.__path[-1]
nextNodeProbability = [0 for _ in range(Constants.NODE_COUNT)]
for moveIndex in possibleMoves:
distanceToNextNode = distanceTable[currentNodeIndex][moveIndex]
if NodeList.isEnergyNode(moveIndex):
distanceToNextNode = 5 - distanceToNextNode
pheromoneToNextNode = pheromoneTable[currentNodeIndex][moveIndex]
probability = (
(45 - distanceToNextNode)**beta) * (pheromoneToNextNode**alpha)
nextNodeProbability[moveIndex] = probability
return nextNodeProbability
class Service:
def __init__(self):
self.__map = Map()
self.__map.loadMap("test1.map")
self.__mapSurface = self.__map.getMapSurface()
self.__drone = Drone(5, 5)
self.__nodeList = NodeList(self.__map)
self.__placeDroneOnEmptyPosition()
self.__pheromoneTable = [[1.0 for _ in range(Constants.NODE_COUNT)]
for _ in range(Constants.NODE_COUNT)]
self.__distanceTable = self.__nodeList.getDistanceBetweenNodes()
def __placeDroneOnEmptyPosition(self):
crtX, crtY = self.__drone.getX(), self.__drone.getY()
while self.__mapSurface[crtX][crtY] != Constants.EMPTY_POSITION:
crtX, crtY = random.randint(0, Constants.MAP_HEIGHT -
1), random.randint(
0, Constants.MAP_WIDTH - 1)
self.__drone.setX(crtX)
self.__drone.setY(crtY)
def __selectBestAnt(self, ants):
bestAnt = None
bestFitness = 0
for ant in ants:
if bestFitness < ant.getFitness():
bestFitness = ant.getFitness()
bestAnt = ant
return bestAnt
def __simulateEpoch(self, antCount, alpha, beta, q0, rho):
ants = [Ant() for _ in range(antCount)]
# move the ants; remove those which don't reach the end
for ant in ants:
for step in range(
Constants.MOVE_COUNT - 1
): # subtract 1 because we init the ant by placing it on a node, so 1 node is already taken?
ant.nextMove(self.__distanceTable, self.__pheromoneTable, q0,
alpha, beta)
ant.computeFitness(self.__mapSurface,
self.__nodeList.getNodeList())
# simulate pheromone evaporation; it has to be done even if all ants die
for i in range(Constants.NODE_COUNT):
for j in range(Constants.NODE_COUNT):
self.__pheromoneTable[i][j] *= (1 - rho)
# add the pheromones produced by the last batch of ants
for ant in ants:
if ant.getFitness() == Constants.TOTAL_EMPTY_POSITIONS:
newPheromone = 0.0001 # it's 29 times smaller than 1 / 340, but not quite 0
else:
newPheromone = 1.0 / ant.getFitness()
currentPath = ant.getPath()
for i in range(len(currentPath) - 1):
crtNode = currentPath[i]
nextNode = currentPath[i + 1]
self.__pheromoneTable[crtNode][nextNode] += newPheromone
return self.__selectBestAnt(ants)
def __updateBestSolution(self, bestSolution):
currentSolution = self.__simulateEpoch(Constants.ANT_COUNT,
Constants.ALPHA, Constants.BETA,
Constants.Q0, Constants.RHO)
if currentSolution is None:
return bestSolution
currentSolutionPathLength = len(currentSolution.getPath())
if bestSolution is None or currentSolutionPathLength > len(
bestSolution.getPath()) or (currentSolutionPathLength == len(
bestSolution.getPath()) and currentSolution.getFitness() <
bestSolution.getFitness()):
return currentSolution # new best solution
return bestSolution
def getSolutionFromPath(self, path):
# path is of the form: entry node, energy node, exit node...
sensorEnergyPairs = []
for i in range(0, len(path), 3):
sensor = self.__nodeList.getNodeList()[path[i]]
sensorEnergyPairs.append(
((sensor.getX(), sensor.getY()), path[i + 1] - path[i] - 1))
return sensorEnergyPairs
def run(self):
bestSolution = None # will be the one with the largest number of visible positions
for epoch in range(Constants.EPOCH_COUNT):
bestSolution = self.__updateBestSolution(bestSolution)
return bestSolution
def getMapSurface(self):
return self.__map.getMapSurface()
def getNodeList(self):
return self.__nodeList.getNodeList()
def getDroneXCoord(self):
return self.__drone.getX()
def getDroneYCoord(self):
return self.__drone.getY()