def __init__(self,
shelfName='RiskMap3.shelf',
sfcst_directory='./',
dMax=1.5):
''' Args:
* shelfName (str) : Name of shelf-file that contains obstacle and risk maps.
* sfcst_directory( str ): Directory in which ROMS small forecast files have been stored.
'''
self.gm = GliderModel(shelfName, sfcst_directory)
self.gs = GliderSimulator(shelfName, sfcst_directory)
self.gsR = GliderSimulator(shelfName, sfcst_directory)
self.Dmax = dMax
self.maxLengths = 50
self.acceptR = 0.6
self.locG = self.gm.lpGraph.copy()
for a in self.locG.nodes():
print a
np.set_printoptions(precision=2)
self.possibleCollision = False
self.Rwd = {}
self.mdp = {}
self.gamma = 1.0
self.maxDepth = 80.
self.w_r = -1.
self.w_g = 10.
self.theta = {}
self.theta['w_r'], self.theta['w_g'] = self.w_r, self.w_g
self.RewardsHaveChanged = False
self.tMax = 48
self.tExtra = 12
def __init__(self,maxLagHrs):
''' __init__(maxLagHrs)
Args:
maxLagHrs (int): maximum number of lag-hours
'''
self.maxLagHrs = maxLagHrs
self.gm = GliderModel(conf.riskMapDir+'RiskMap.shelf',gpplib.gppConf.romsDataDir)
self.numPts = len( self.gm.x_pts )
self.cumVec_u = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.cumVec_v = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.cumVec_s = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.tLags = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.totAcc = 0
def __init__(self,
riskMap='RiskMap.shelf',
romsDataDir='/roms/',
**kwargs):
''' Initialize the pseudo waypoint generator
Args:
riskMap (str): path to and name of shelf containing the risk map etc.
romsDataDir (str): directory containing the ROMS data used for simulations.
Keyword Args:
use_realtime_data (bool): Flag that indicates if we should be using real-time data for
simulations or if we will be passed either a datetime or
date and time. True if we will use real-time. False if not.
use_datetime (datetime): Datetime object that indicates the date and time of the simulation.
yy,mm,dd,hr,mi (int): Year, Month, Day, Hour and Minute to start simulation at if not via a datetime.
no_comms_timeout_secs (int): No. of seconds of no communications due to which the glider will
resurface (>300).
roms_yy, roms_mm, roms_dd (int): Roms data file if we want to explicitly specify one.
glider_vel (float) : Velocity of the glider to be used in simulations (0<glider_vel<2)
max_dive_depth (float) : Maximum depth the glider will be diving to.
max_climb_depth (float) : Maximum depth the glider will be climbing to.
'''
self.gm = GliderModel(riskMap, romsDataDir)
self.rtc = RomsTimeConversion()
self.ll_conv = LLConvert()
self.er = EarthRadius(33.55)
self.dc = DistCalculator(self.er.R)
# We have not yet loaded the ROMS data.
self.romsDataLoaded = False
# Don't perform a full-simulation by default
self.perform_full_simulation = False
# Don't treat going off the map as a collision
self.hold_vals_off_map = True
# Maximum dive depth
self.max_dive_depth = 80.
self.no_comms_timeout_secs = 12 * 3600
# Take care of figuring out the time.
self.use_realtime_data = True
self.TestKwArgs(**kwargs)
def PlotFFTandSaveFig(yy, mm, dd, numDays):
gm = GliderModel()
u, v, time1, depth, lat, lon = gm.GetRomsData(yy, mm, dd, numDays)
u_mean, v_mean = np.mean(u, axis=1), np.mean(v, axis=1)
s_mean = np.sqrt(u_mean * u_mean + v_mean * v_mean)
numPts = 10
# Now let us look at the correlation in this variability over time.
(tMax, lyMax, lxMax) = s_mean.shape
x_pts, y_pts = np.arange(0.1, lxMax - 0.1,
numPts), np.arange(0.1, lyMax - 0.1, numPts)
X, Y = np.array(np.floor(x_pts), int), np.array(np.floor(y_pts), int)
s_mean = np.where(np.isnan(s_mean), 0, s_mean)
PlotFFT(u_mean, X, Y)
def PlotCoursesOnMap(self):
gm = GliderModel(conf.myDataDir + 'RiskMap.shelf',
conf.myDataDir + 'roms')
plt.figure()
gm.PlotNewRiskMapFig()
#gm.GetXYfromLatLon()
for vessel in self.vesselList:
msgList = self.msgIndxByVessel['%d' % (vessel)]
trackX, trackY = [], []
for msg in msgList:
if msg.has_key('y'):
lat, lon = msg['y'], msg['x']
x, y = gm.GetXYfromLatLon(lat, lon)
trackX.append(x)
trackY.append(y)
plt.plot(trackX, trackY, '.-')
def runSimulation():
conf = GppConfig()
gm = GliderModel(conf.myDataDir+'RiskMap.shelf',conf.myDataDir+'/roms5/')
u,v,time,depth,lat,lon = gm.GetRomsData(yy,mm,dd,numDays)
plt.figure(),plt.imshow(gm.riskMapArray,origin='lower')
FullSimulation,HoldValsOffMap=False,True
for i in range(0,200):
'''
xFin,yFin,latFin,lonFin,latArray,lonArray,depthArray,tArray,possibleCollision,CollisionReason,totalDist=\
gm.SimulateDive(gm.lat_pts[1]+random.gauss(0,0.1),gm.lon_pts[6]+random.gauss(0,0.1),gm.lat_pts[5],gm.lon_pts[1],80,u,v,lat,lon,depth,i,False)
'''
gm.InitSim(gm.lat_pts[1]+random.gauss(0,0.1),gm.lon_pts[6]+random.gauss(0,0.1),gm.lat_pts[5],gm.lon_pts[1],80,i,FullSimulation,HoldValsOffMap)
xFin,yFin,latFin,lonFin,latArray,lonArray,depthArray,tArray,possibleCollision,CollisionReason,totalDist=\
gm.SimulateDive_R(20)
print 'Flag for Simulation Completion = ',gm.doneSimulating
#xFin,yFin,latFin,lonFin,latArray,lonArray,depthArray,tArray,possibleCollision,CollisionReason,totalDist=\
# gm.SimulateDive_R(True,10)
#gm.SimulateDive(gm.lat_pts[1]+random.gauss(0,0.1),gm.lon_pts[6]+random.gauss(0,0.1),gm.lat_pts[5],gm.lon_pts[1],80,u,v,lat,lon,depth,i,False)
if possibleCollision == False:
tempX,tempY = gm.GetPxPyFromLatLon(np.array(latArray),np.array(lonArray))
x_sims,y_sims = tempX[-1:],tempY[-1:] # TODO: This might be wrong!
plt.plot(tempX,tempY)
else:
tempX,tempY = gm.GetPxPyFromLatLon(np.array(latArray),np.array(lonArray))
plt.plot(tempX,tempY,'r.-')
x_sims,y_sims = 0,0
def __init__(self,
queue,
shelfName='RiskMap.shelf',
sfcst_directory='./',
dMax=1.5):
super(ThreadedSimulator, self).__init__(shelfName, sfcst_directory)
threading.Thread.__init__(self)
conf = GppConfig()
plt.imshow(self.riskMapArray, origin='lower')
self.gm = GliderModel(conf.myDataDir + 'RiskMap.shelf',
conf.myDataDir + '/roms/')
self.u, self.v, self.time, self.depth, self.lat, self.lon = self.GetRomsData(
yy, mm, dd, numDays)
self.FullSimulation, self.HoldValsOffMap = False, True
self.queue = queue
class LookAtRoms():
def __init__(self):
self.gm = GliderModel(dataShelf, dataDirectory)
pass
def GetDataForNdaysStarting(self, yy, mm, dd, numDays):
self.yy, self.mm, self.dd, self.numDays = yy, mm, dd, numDays
self.u, self.v, self.time1, self.depth, self.lat, self.lon = self.gm.GetRomsData(
yy, mm, dd, numDays)
self.u_mean, self.v_mean = np.mean(self.u, axis=1), np.mean(self.v,
axis=1)
self.s_mean = np.sqrt(self.u_mean * self.u_mean +
self.v_mean * self.v_mean)
self.zerodNanS_mean = np.where(np.isnan(self.s_mean), 0, self.s_mean)
self.S_meanNZlocs = self.zerodNanS_mean.nonzero()
self.S_meanNZVals = self.zerodNanS_mean[self.S_meanNZlocs]
self.hist, self.bin_edges = np.histogram(self.S_meanNZVals,
bins=np.linspace(0, 10, 60))
plt.figure()
normed_value = 1
hist, bins = np.histogram(self.S_meanNZVals,
range=(0, 1.0),
bins=50,
density=True)
widths = np.diff(bins)
hist *= normed_value
dt = datetime.datetime(yy, mm, dd)
plt.bar(bins[:-1], hist, widths)
plt.title('Current magnitudes on %s' % (dt.strftime('%B %d, %Y')),
fontsize=15)
plt.xlabel('Current Magnitude in m/s', fontsize=15)
plt.axis([0, 1.0, 0, 12.0])
plt.text(0.25,
5.0,
'Mean=%.3f, Var=%.3f, Median=%.3f' %
(self.S_meanNZVals.mean(), self.S_meanNZVals.var(),
np.median(self.S_meanNZVals)),
fontsize=15)
plt.annotate('Glider speed 0.27 m/s',
xy=(0.27, 0.01),
xytext=(0.27, 3.0),
arrowprops=dict(facecolor='red', shrink=0.05),
fontsize=15)
plt.savefig('HistCvals_%04d%02d%02d.png' % (yy, mm, dd))
'''
def MultiProcessedSimulator(queue):
conf = GppConfig()
gm = GliderModel(conf.myDataDir + 'RiskMap.shelf',
conf.myDataDir + '/roms/')
u, v, time, depth, lat, lon = gm.GetRomsData(yy, mm, dd, numDays)
simRuns = []
FullSimulation, HoldValsOffMap = False, True
for i in range(0, 50):
'''
xFin,yFin,latFin,lonFin,latArray,lonArray,depthArray,tArray,possibleCollision,CollisionReason,totalDist=\
gm.SimulateDive(gm.lat_pts[1]+random.gauss(0,0.1),gm.lon_pts[6]+random.gauss(0,0.1),gm.lat_pts[5],gm.lon_pts[1],80,u,v,lat,lon,depth,i,False)
'''
gm.InitSim(gm.lat_pts[1] + random.gauss(0, 0.1),
gm.lon_pts[6] + random.gauss(0, 0.1), gm.lat_pts[5],
gm.lon_pts[1], 80, i, FullSimulation, HoldValsOffMap)
xFin,yFin,latFin,lonFin,latArray,lonArray,depthArray,tArray,possibleCollision,CollisionReason,totalDist=\
gm.SimulateDive_R(20)
print 'Flag for Simulation Completion = ', gm.doneSimulating
tempX, tempY = None, None
#xFin,yFin,latFin,lonFin,latArray,lonArray,depthArray,tArray,possibleCollision,CollisionReason,totalDist=\
# gm.SimulateDive_R(True,10)
#gm.SimulateDive(gm.lat_pts[1]+random.gauss(0,0.1),gm.lon_pts[6]+random.gauss(0,0.1),gm.lat_pts[5],gm.lon_pts[1],80,u,v,lat,lon,depth,i,False)
if possibleCollision == False:
tempX, tempY = gm.GetPxPyFromLatLon(np.array(latArray),
np.array(lonArray))
x_sims, y_sims = tempX[-1:], tempY[
-1:] # TODO: This might be wrong!
#plt.plot(tempX,tempY)
else:
tempX, tempY = gm.GetPxPyFromLatLon(np.array(latArray),
np.array(lonArray))
#plt.plot(tempX,tempY,'r.-')
x_sims, y_sims = 0, 0
simRuns.append((tempX, tempY, possibleCollision))
queue.put(simRuns)
class GetRomsCorrelations(object):
''' Class to compute ROMS auto-correlations.
'''
def __init__(self,maxLagHrs):
''' __init__(maxLagHrs)
Args:
maxLagHrs (int): maximum number of lag-hours
'''
self.maxLagHrs = maxLagHrs
self.gm = GliderModel(conf.riskMapDir+'RiskMap.shelf',gpplib.gppConf.romsDataDir)
self.numPts = len( self.gm.x_pts )
self.cumVec_u = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.cumVec_v = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.cumVec_s = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.tLags = np.zeros((self.numPts**2, 2* maxLagHrs-1))
self.totAcc = 0
def PlotCorrelationWithLocations(self,lags,cVecs,X,Y,lat,lon,lyMax,lxMax,figTitle,\
yLabel='Auto-Correlation\nCurrent m/s',saveFigName=None,Thresh=0.6,TimeScale=24):
'''
'''
fig = plt.figure()
ax1 = fig.add_subplot(211)
ax2 = fig.add_subplot(212)
ax2.axes.set_xlim(-1,lyMax+1 )
ax2.axes.set_ylim(-1,lxMax)
ax1.axes.set_xlim((0,self.maxLagHrs))
ax1.axes.set_ylim((-0.5,1.1))
ax1.grid(True)
ax1.yaxis.label.set_text(yLabel)
#x_pts,y_pts = np.linspace(0.1,lxMax-0.1,self.numPts),np.linspace(0.1,lyMax-0.1,self.numPts)
i=0
CorrMat = np.zeros((len(X),len(Y))) #np.zeros((len(x_pts),len(y_pts)))
BinCorrMat = np.zeros((len(X),len(Y))) #np.zeros((len(x_pts),len(y_pts)))
import pdb; pdb.set_trace()
for j in range(0,len(Y)):
for k in range(0,len(X)):
x,y = X[k],Y[j]
#plt.acorr(s_mean[:,x,y],usevlines=True,detrend=mlab.detrend_mean,normed=True,maxlags=None)
#lags,cVec,linecols,lines = ax1.acorr(u_mean[:,y,x],usevlines=False,normed=True,maxlags=None,lw=2,color='#%02x%02x%02x'%((x*5+50)%256,(x*5)%256,(y*5)%256))
if self.gm.GetRisk(lat[y],lon[x])<1:
ax1.plot(lags[i],cVecs[i],'.',color='#%02x%02x%02x'%((x*5+50)%256,(x*5)%256,(y*5)%256))
CorrMat[k,j] = cVecs[i,lags[0,-1]+TimeScale]
#ax2.plot(x,y,'*',color='#%02x%02x%02x'%((x*5+50)%256,(x*5)%256,(y*5)%256),lw=5,ms=14)
if cVecs[i,lags[0,-1]+TimeScale]>=Thresh:
ax2.plot(x,y,'*',color='#0000ff',lw=5,ms=20)
BinCorrMat[k,j] = 1.0
else:
if cVecs[i,lags[0,-1]+TimeScale]<Thresh:
ax2.plot(x,y,'x',color='#ff0000',lw=5,ms=20)
BinCorrMat[k,j] = 0.0
else:
ax2.plot(x,y,'.',color='#ffff00',lw=5,ms=10)
CorrMat[k,j] = 0.0
BinCorrMat[k,j] = -1.0
i=i+1
if saveFigName != None:
saveFigName='%s_Thresh_%.2f_TScale_%d.pdf'%(saveFigName,Thresh,TimeScale)
plt.savefig(saveFigName)
return CorrMat,BinCorrMat
def ThresholdLocations(self, Thresh=0.5, TimeScale=48 ):
''' Apply the given threshold of amount of correlation required by the given time.
Also stores a few plots of the results.
Args:
Thresh=0.5 (float) : Threshold on a scale between (-1 and +1) above which we deem something well-correlated
TimeScale=48 (int) : Time in hours at which the thresholding operation is performed.
Returns:
CorrMatU,CorrMatV,CorrMatS : Correlation matrices for the easting, northing and magnitudes.
BinCorrMatU,BinCorrMatV,BinCorrMatS : Correlation matrices after thresholding
'''
CorrMatU,BinCorrMatU = self.PlotCorrelationWithLocations(self.tLags,self.cumVec_u/float(self.totAcc),self.X,self.Y,self.lat,self.lon,self.lyMax,self.lxMax, \
'Plot of Auto-correlations in ocean current predictions for \n%d days from %04d-%02d-%02d' \
%(self.totAcc,self.yy,self.mm,self.dd),'Auto-Correlation\nCurrent u m/s','AutoCorrelate_U_mean',Thresh,TimeScale)
CorrMatV,BinCorrMatV = self.PlotCorrelationWithLocations(self.tLags,self.cumVec_v/float(self.totAcc),self.X,self.Y,self.lat,self.lon,self.lyMax,self.lxMax, \
'Plot of Auto-correlations in ocean current predictions for \n%d days from %04d-%02d-%02d' \
%(self.totAcc,self.yy,self.mm,self.dd),'Auto-Correlation\nCurrent v m/s','AutoCorrelate_V_mean',Thresh,TimeScale)
CorrMatS,BinCorrMatS = PlotCorrelationWithLocations(self.tLags,self.cumVec_s/float(self.totAcc),self.X,self.Y,self.lat,self.lon,self.lyMax,self.lxMax, \
'Plot of Auto-correlations in ocean current predictions for \n%d days from %04d-%02d-%02d' \
%(self.totAcc,self.yy,self.mm,self.dd),'Auto-Correlation\nCurrent s m/s','AutoCorrelate_S_mean',Thresh,TimeScale)
CorrShelf = shelve.open('CorrModel_%.2f_%d.shelf'%(Thresh,TimeScale))
CorrShelf['CorrMatU'],CorrShelf['BinCorrMatU'] = CorrMatU,BinCorrMatU
CorrShelf['CorrMatV'],CorrShelf['BinCorrMatV'] = CorrMatV,BinCorrMatV
CorrShelf['CorrMatS'],CorrShelf['BinCorrMatS'] = CorrMatS,BinCorrMatS
CorrShelf['tLags'] = tLags
CorrShelf['cumVec_u'],CorrShelf['cumVec_v'],CorrShelf['cumVec_s'] = cumVec_u, cumVec_v, cumVec_s
CorrShelf['X'],CorrShelf['Y'],CorrShelf['lat'],CorrShelf['lon'] = X,Y,lat,lon
CorrShelf['lyMax'], CorrShelf['lxMax'] = lyMax,lxMax
CorrShelf.close()
self.SaveCorrelationShelfToMatlabFormat(Thresh,TimeScale)
CorrMatU = np.where(np.isnan(CorrMatU),0,CorrMatU)
CorrMatV = np.where(np.isnan(CorrMatV),0,CorrMatV)
CorrMatS = np.where(np.isnan(CorrMatS),0,CorrMatS)
# Save to Matlab if Geoff needs this.
figU = plt.figure()
plt.imshow(CorrMatU.transpose(),origin='Upper',cmap=plt.get_cmap(plt.cm.jet_r))
plt.title('Auto-correlation coefficient U (threshold %.2f @ %d hour lag)'%(Thresh,TimeScale))
plt.colorbar()
plt.savefig('CorrMatU_Thresh%.2f_Lag%d.pdf'%(Thresh,TimeScale))
figV = plt.figure()
plt.imshow(CorrMatV.transpose(),origin='Upper',cmap=plt.get_cmap(plt.cm.jet_r))
plt.title('Auto-correlation coefficient V (threshold %.2f @ %d hour lag)'%(Thresh,TimeScale))
plt.colorbar()
plt.savefig('CorrMatV_Thresh%.2f_Lag%d.pdf'%(Thresh,TimeScale))
figS = plt.figure()
plt.imshow(CorrMatS.transpose(),origin='Upper',cmap=plt.get_cmap(plt.cm.jet_r))
plt.title('Auto-correlation coefficient S (threshold %.2f @ %d hour lag)'%(Thresh,TimeScale))
plt.colorbar()
plt.savefig('CorrMatS_Thresh%.2f_Lag%d.pdf'%(Thresh,TimeScale))
return CorrMatU,CorrMatV,CorrMatS,BinCorrMatU,BinCorrMatV,BinCorrMatS
def SaveCorrelationShelfToMatlabFormat(self,Thresh,TimeScale):
''' Convert from Correlation Shelf format to Matlab.
'''
CorrShelf = shelve.open('CorrModel_%.2f_%d.shelf'%(Thresh,TimeScale))
corrs = CorrShelf
sio.savemat('Correlations_%.2f_%d.mat'%(Thresh,TimeScale),corrs)
CorrShelf.close()
def GetCorrelationPlot(self,lat,lon,qty,yy,mm,dd,numDays,numPts):
''' GetCorrelationPlot(lat,lon,qty,yy,mm,dd,numDays,numPts)
Args:
lat,lon (floats) : latitude and longitude arrays
qty (np.array) : quantity whose auto-correlation we are computing
yy,mm,dd, numDays (ints): year, month, day, number of days
numPts : number of points we are finding the auto-correlations for.
Returns:
tLags (np.array) : vector with the time-lags (always the same)
cumVec (np.array): correlation coefficients at different lags
X, Y (np.arrays) : locations for which we have computed these
lxMax, lyMax (ints): the width and height of the ROMS map
'''
# Now let us look at the correlation in this variability over time.
(tMax,lyMax,lxMax) = qty.shape
self.tMax,self.lyMax,self.lxMax = qty.shape
qty = np.where(np.isnan(qty),0,qty)
#x_pts,y_pts = gm.x_pts,gm.y_pts
lat_pts,lon_pts = self.gm.lat_pts,self.gm.lon_pts
x_pts,y_pts=[],[]
for i in range(0,len(lat_pts)):
x,y = self.gm.LatLonToRomsXY(lat_pts[i],lon_pts[i],lat,lon)
x_pts.append(x)
y_pts.append(y)
X,Y = np.array(np.floor(x_pts),int),np.array(np.floor(y_pts),int)
self.X,self.Y = X,Y
cumVec = np.zeros((numPts**2,self.maxLagHrs *2 -1))
tLags = np.zeros((numPts**2,self.maxLagHrs *2 -1))
i=0
fig = plt.figure()
for y in Y:
for x in X:
lags,cVec,linecols,lines = plt.acorr(qty[:,y,x],usevlines=False,normed=True,maxlags=None,lw=2)
tLags[i] = lags
cumVec[i] += cVec
i=i+1
plt.close()
return tLags,cumVec,X,Y,lxMax,lyMax
def ComputeCorrelations(self,yy_start,mm_start,dd_start,yy_end,mm_end,dd_end):
''' ComputeCorrelations(yy_start,mm_start,dd_start,yy_end,mm_end,dd_end)
Args:
yy_start,mm_start,dd_start (ints) : date correlation computations start from.
yy_end,mm_end,dd_end (ints) : date correlation computations end at.
Returns:
CorrMatU, CorrMatV, CorrMatS
'''
numPts = self.numPts
numDays = int(self.maxLagHrs/24 + 0.5)
self.dr = DateRange(yy_start,mm_start,dd_start,yy_end,mm_end,dd_end)
for yy,mm,dd in self.dr.DateList:
self.yy,self.mm,self.dd = yy,mm,dd
u,v,time1,depth,lat,lon = self.gm.GetRomsData(yy,mm,dd,numDays)
u_mean, v_mean = np.mean(u,axis=1), np.mean(v,axis=1)
s_mean = np.sqrt(u_mean**2 + v_mean**2)
lags_u,cVec_u,X,Y,lxMax,lyMax = self.GetCorrelationPlot(lat,lon,u_mean,yy,mm,dd,numDays,numPts)
lags_v,cVec_v,X,Y,lxMax,lyMax = self.GetCorrelationPlot(lat,lon,v_mean,yy,mm,dd,numDays,numPts)
lags_s,cVec_s,X,Y,lxMax,lyMax = self.GetCorrelationPlot(lat,lon,s_mean,yy,mm,dd,numDays,numPts)
self.cumVec_u+=cVec_u
self.cumVec_v+=cVec_v
self.cumVec_s+=cVec_s
self.tLags = lags_u
self.totAcc += 1
self.lat,self.lon = lat,lon
class PseudoWayPtGenerator(object):
''' Pseudo waypoint generator class which allows us to select a waypoint,
and then it reverse calculates a location to aim for such that we get to the
desired location.
'''
def __init__(self,
riskMap='RiskMap.shelf',
romsDataDir='/roms/',
**kwargs):
''' Initialize the pseudo waypoint generator
Args:
riskMap (str): path to and name of shelf containing the risk map etc.
romsDataDir (str): directory containing the ROMS data used for simulations.
Keyword Args:
use_realtime_data (bool): Flag that indicates if we should be using real-time data for
simulations or if we will be passed either a datetime or
date and time. True if we will use real-time. False if not.
use_datetime (datetime): Datetime object that indicates the date and time of the simulation.
yy,mm,dd,hr,mi (int): Year, Month, Day, Hour and Minute to start simulation at if not via a datetime.
no_comms_timeout_secs (int): No. of seconds of no communications due to which the glider will
resurface (>300).
roms_yy, roms_mm, roms_dd (int): Roms data file if we want to explicitly specify one.
glider_vel (float) : Velocity of the glider to be used in simulations (0<glider_vel<2)
max_dive_depth (float) : Maximum depth the glider will be diving to.
max_climb_depth (float) : Maximum depth the glider will be climbing to.
'''
self.gm = GliderModel(riskMap, romsDataDir)
self.rtc = RomsTimeConversion()
self.ll_conv = LLConvert()
self.er = EarthRadius(33.55)
self.dc = DistCalculator(self.er.R)
# We have not yet loaded the ROMS data.
self.romsDataLoaded = False
# Don't perform a full-simulation by default
self.perform_full_simulation = False
# Don't treat going off the map as a collision
self.hold_vals_off_map = True
# Maximum dive depth
self.max_dive_depth = 80.
self.no_comms_timeout_secs = 12 * 3600
# Take care of figuring out the time.
self.use_realtime_data = True
self.TestKwArgs(**kwargs)
def TestKwArgs(self, **kwargs):
if kwargs.has_key('use_realtime_data'):
use_realtime_data = self.use_realtime_data
if use_real_time_data:
self.use_real_time_data = True
self.dt = datetime.datetime.utcnow()
else:
self.use_real_time_data = False
# Since we are not using real-time data you better pass
# that data to me.
if kwargs.has_key('use_datetime'
): # We have been passed a datetime object.
dt = kwargs['use_datetime']
self.dt = dt
elif kwargs.has_key('yy'):
yy, mm, dd = kwargs['yy'], kwargs['mm'], kwargs[
'dd'] # We have been passed the date
hr, mi = kwargs['hr'], kwargs['mi']
self.dt = datetime.datetime(
yy, mm, dd, hr,
mi) # we assume we were passed date and time in UTC
else:
self.dt = None
if kwargs.has_key('no_comms_timeout_secs'):
no_comms_timeout_secs = kwargs['no_comms_timeout_secs']
if (no_comms_timeout_secs <= 299):
self.no_comms_timeout_secs = no_comms_timeout_secs
else:
raise
if kwargs.has_key('roms_yy'):
roms_yy, roms_mm, roms_dd, roms_numDays = kwargs[
'roms_yy'], kwargs['roms_mm'], kwargs['roms_dd'], kwargs[
'roms_numDays']
roms_dt = datetime.datetime(roms_yy, roms_mm, roms_dd, 0,
0) # Auto-test ROMS date
self.u, self.v, self.time1, self.depth, self.lat, self.lon = self.gm.GetRomsData(
roms_yy, roms_mm, roms_dd, roms_numDays, True, True)
self.romsDataLoaded = True
if kwargs.has_key('glider_vel'):
glider_vel = kwargs['glider_vel']
if glider_vel <= 0 or glider_vel >= 2:
print 'Sorry, gliders are not that quick yet... Ignoring this entry!'
else:
self.gm.gVel = glider_vel
if kwargs.has_key('glider_vel_nom'):
glider_vel_nom = kwargs['glider_vel_nom']
if glider_vel_nom <= 0 or glider_vel_nom >= 2:
print 'Sorry, gliders are not that quick yet... Ignoring this entry!'
else:
self.gm.gVelNom = glider_vel_nom
if kwargs.has_key('max_dive_depth'):
max_dive_depth = kwargs['max_dive_depth']
if max_dive_depth > 95:
max_dive_depth = 95
if max_dive_depth < 5:
max_dive_depth = 5
self.max_dive_depth = max_dive_depth
if kwargs.has_key('max_climb_depth'):
max_climb_depth = kwargs['max_climb_depth']
if max_climb_depth > 0:
max_climb_depth = 0
if max_climb_depth < 30:
max_climb_depth = 30
self.max_climb_depth = max_climb_depth
self.gm.MinDepth = max_climb_depth
if kwargs.has_key('perform_full_simulation'):
if kwargs['perform_full_simulation']:
self.perform_full_simulation = True
else:
self.perform_full_simulation = False
if kwargs.has_key('hold_vals_off_map'):
if kwargs['hold_vals_off_map']:
self.hold_vals_off_map = True
else:
self.hold_vals_off_map = False
def SimulateDive(self, start, goal, startT, **kwargs):
''' Simulate a dive given a start in (lat,lon), goal in (lat,lon) and a starting time.
'''
self.TestKwArgs(
**kwargs
) # First, set any keyword args that may have been passed in.
plot_figure = False
line_color, line_width = 'r-', 2.5
if kwargs.has_key('line_color'):
line_color = kwargs['line_color']
if kwargs.has_key('line_width'):
line_width = kwargs['line_width']
if kwargs.has_key('plot_figure'):
if kwargs['plot_figure']:
plot_figure = True
plt.figure()
self.gm.PlotNewRiskMapFig()
#plt.figure();
#plt.imshow(self.gm.riskMapArray,origin='lower')
#goalx,goaly = self.gm.GetPxPyFromLatLon(goal[0],goal[1])
goalx, goaly = self.gm.GetXYfromLatLon(goal[0], goal[1])
if kwargs.has_key('goal_marker'):
plt.plot(goalx, goaly, kwargs['goal_marker'])
if kwargs.has_key('plot_currents'):
if kwargs['plot_currents']:
self.gm.PlotCurrentField(startT)
self.gm.InitSim(start[0],start[1],goal[0],goal[1],self.max_dive_depth,startT, \
self.perform_full_simulation,self.hold_vals_off_map)
xFin,yFin,latFin,lonFin,latArray,lonArray,depthArray,tArray,possibleCollision,CollisionReason,totalDist = \
self.gm.SimulateDive_R(self.no_comms_timeout_secs/3600.)
diveTime = self.gm.t_prime - startT
self.diveTime,self.latArray,self.lonArray,self.depthArray,self.tArray,self.possibleCollision,self.totalDist = \
diveTime, latArray, lonArray, depthArray, tArray, possibleCollision, totalDist
if plot_figure:
if possibleCollision == False:
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
x_sims, y_sims = tempX[-1:], tempY[-1:]
plt.plot(tempX, tempY, line_color)
else:
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
plt.plot(tempX, tempY, 'r.-')
x_sims, y_sims = 0, 0
if self.gm.doneSimulating:
print 'Surfaced due to waypoint at %.4f, %.4f' % (latFin, lonFin)
else:
print 'Surfaced due to no-comms in time %.2f hrs' % (diveTime)
return latFin, lonFin, self.gm.doneSimulating
def GetPseudoWayPt(self, start, goal, startT):
latFin, lonFin, doneSimulating = self.SimulateDive(start, goal, startT)
goalLat, goalLon = goal
pLat = 2 * goalLat - latFin
pLon = 2 * goalLon - lonFin
return pLat, pLon, doneSimulating
def IteratePseudoWptCalculation(self, start, goal, startT, numTimes=2):
pGoal = goal
goalLat, goalLon = goal
p1Lat, p1Lon = goal
closest = float('inf')
for i in range(0, numTimes):
print 'Iter %d/%d' % (i + 1, numTimes)
pLat, pLon, doneSimulating = self.GetPseudoWayPt(
start, pGoal, startT)
pLatFin, pLonFin, doneSimulating = self.SimulateDive(
start, (pLat, pLon),
startT,
plot_figure=True,
line_color='g',
goal_marker='b.')
deltaLat, deltaLon = goalLat - pLatFin, goalLon - pLonFin
dist2goal = self.dc.GetDistBetweenLocs(goalLat, goalLon, pLatFin,
pLonFin)
if dist2goal < closest and doneSimulating:
p1Lat, p1Lon = pLat, pLon
closest = dist2goal
pGoal = (goalLat + deltaLat, goalLon + deltaLon)
return p1Lat, p1Lon
def GetPseudoWptForStartTimeRange(self,
start,
goal,
startT1,
startT2,
numTimes=2):
if startT1 > startT2:
print 'startT1 (%.1f) should be less than startT2 (%.1f)' % (
startT1, startT2)
pLats, pLons, errs = [], [], []
for startT in range(startT1, startT2):
pLat, pLon = self.IteratePseudoWptCalculation(
start, goal, startT, numTimes)
pLatFin, pLonFin, doneSimulating = self.SimulateDive(
start, (pLat, pLon), startT)
dist2goal = self.dc.GetDistBetweenLocs(goalLat, goalLon, pLatFin,
pLonFin)
pLats.append(pLat)
pLons.append(pLon)
errs.append(dist2goal)
return pLats, pLons, errs
class GliderSimulator_R(object):
''' Stand-alone generic re-entrant simulator for a glider in ROMS data.
Earlier, each of my planners had its own implementation of a simulator built into it.
This is highly repetitive and as someone wisely said
"Repetition" is defined as "a host site for a defect infection".
So henceforth, we are going to use this as the entry-point for simulation.
Users create a simulation instance where they define the type of simulation they need,
and then forward propagate this.
This class could have been written using Generators on the GliderSimulator, but I have
used this version mainly because I intend porting this over to C++ which does not
have generators.
'''
def __init__(self, riskMap, romsDataDir='./', acceptR=0.6, **kwargs):
self.gm = GliderModel(riskMap, romsDataDir)
self.Init_Simulation()
self.acceptR = acceptR
def Init_Simulation(self):
''' Initialize Simulation of the MDP policy execution.
Args:
start (x,y) : tuple containing the start vertex on the graph
goal (x,y) : tuple containing the goal vertex on the graph
startT (int) : time in hours for the simulation to start from
lineType (string): matplotlib line type. defaults to 'r-'
newFig (bool) : default=True, creates a new figure if set to true. If multiple simulations need overlaying, this is set to false.
'''
self.DoFullSim = False
self.HoldValsOffMap = True
self.totalRisk = 0
self.distFromGoal = float('inf')
self.totalPathLength = 0.
self.totalTime = 0
self.numHops = 0
self.isSuccess = False
self.done = False
self.Indx = 0
self.possibleCollision = False
#x_sims,y_sims = np.zeros((24*gm.numDays,1)),np.zeros((24*gm.numDays,1))
#if startT>=(24*self.gm.numDays):
# startT = 24*self.gm.numDays-1
self.x_sims, self.y_sims = 0, 0
self.latArray, self.lonArray = [], []
#self.gm.InitSim(self.sLat,self.sLon,self.gLat,self.gLon,self.gm.MaxDepth,startT,self.DoFullSim,self.HoldValsOffMap)
#import pdb; pdb.set_trace()
self.lastLegComplete = True
self.bx, self.by = None, None
self.lastTransition = None
def Start_Simulation(self,
start,
goal,
startT,
maxDepth=80.,
lineType='r-',
newFig=False):
self.goal = goal
self.start = start
self.a = self.start
self.startT = startT
self.lineType = lineType
self.finX, self.finY = start[0], start[1]
self.sLat, self.sLon = self.gm.GetLatLonfromXY(self.start[0],
self.start[1])
self.gLat, self.gLon = self.gm.GetLatLonfromXY(self.goal[0],
self.goal[1])
self.Init_Simulation()
if newFig:
plt.figure()
plt.title('Plotting Min-Exp Risk Ensemble')
self.gm.PlotNewRiskMapFig()
def SetupCallbacks(self,
GetPolicyAtNodeCallbackFn=None,
PostDeltaSimCallbackFn=None,
PostSurfaceCallbackFn=None):
self.GetPolicyAtNodeCallbackFn = GetPolicyAtNodeCallbackFn
self.PostSurfaceCallbackFn = PostSurfaceCallbackFn
self.PostDeltaSimCallbackFn = PostDeltaSimCallbackFn
def GetRiskFromXY(self, x, y):
''' Looks up the risk value for x,y from the risk-map
Args:
x,y (float,float) : x and y in graph coordinates.
'''
lat, lon = self.gm.GetLatLonfromXY(x, y)
return self.gm.GetRisk(lat, lon)
def SimulateAndPlot_PolicyExecution_R(self, simulTime=-1):
''' Simulate and plot the MDP policy execution in a re-entrant manner. This simulation is very useful
when we want to create a movie of how things are progressing. It can be called over and over again
after a single call to InitMDP_Simulation_
Args:
simulTime (float) : indicates the maximum amount of time we want to simulate for in hours. Defaults to -1, which means that it will only exit after completing the simulation.
PostDeltaSimCallback: default=None. This is a user-defined callback function which will be executed upon completion of the simulation.
PostSurfaceCallbackFn: default=None. This is a user-defined callback function which will be executed when the glider surfaces. This might happen
in between a surfacing.
Returns:
totalRisk (float): total risk associated with the path
collisionState (bool): True if collided with land. False if no collision detected.
'''
i = self.Indx
tStart = self.startT
#self.lastLegComplete = self.gm.doneSimulating;
if self.lastLegComplete == True:
self.numHops += 1
try:
#print 'Simulate.py before getpolicy:',self.bx, self.by
self.lastTransition = [(int(self.a[0] + 0.5),
int(self.a[1] + 0.5)),
(self.bx, self.by)]
# Used to be an integer
#self.bx, self.by = self.GetPolicyAtNodeCallbackFn((int(self.a[0]+0.5),int(self.a[1]+0.5)), self.goal)
#self.bx, self.by = self.GetPolicyAtNodeCallbackFn(self.a[0],self.a[1], self.goal) # Seems to be causing issues with debugSA_MDP.py
self.bx, self.by = self.GetPolicyAtNodeCallbackFn(
(self.a[0], self.a[1]), self.goal)
#self.bx, self.by = self.GetPolicyAtNodeCallbackFn('(%d,%d)' % (int(self.a[0]), int(self.a[1])), '(%d,%d)' % (self.goal[0], self.goal[1]))
#print 'Simulate.py after getpolicy:',self.bx, self.by
if self.PostSurfaceCallbackFn != None:
self.PostSurfaceCallbackFn(self.latArray, self.lonArray)
self.plot(a[0], a[1], 'k.')
self.b = (self.bx, self.by)
self.sLat, self.sLon = self.gm.GetLatLonfromXY(
self.a[0], self.a[1])
self.gLat, self.gLon = self.gm.GetLatLonfromXY(
self.b[0], self.b[1])
self.gm.InitSim(self.sLat, self.sLon, self.gLat, self.gLon,
self.gm.MaxDepth, tStart, self.DoFullSim,
self.HoldValsOffMap)
except TypeError:
self.bx, self.by = None, None
if self.bx != None and self.by != None:
#self.b = (self.bx, self.by)
#self.sLat, self.sLon = self.gm.GetLatLonfromXY(self.a[0], self.a[1])
#self.gLat, self.gLon = self.gm.GetLatLonfromXY(self.b[0], self.b[1])
xFin, yFin, latFin, lonFin, latArray, lonArray, depthArray, tArray, possibleCollision, CollisionReason, totalDist = \
self.gm.SimulateDive_R(simulTime) # If this is <1 it will have the same behavior as before.
self.xFin, self.yFin, self.latFin, self.lonFin, self.latArray, self.lonArray, self.depthArray, self.tArray, self.possibleCollision = \
xFin, yFin, latFin, lonFin, latArray, lonArray, depthArray, tArray, possibleCollision
self.totalPathLength += totalDist
self.CollisionReason = CollisionReason
self.lastLegComplete = self.gm.doneSimulating
if self.PostDeltaSimCallbackFn != None:
self.PostDeltaSimCallbackFn(latArray, lonArray)
self.distFromGoal = math.sqrt((self.a[0] - self.goal[0])**2 +
(self.a[1] - self.goal[1])**2)
if self.distFromGoal <= self.acceptR:
self.isSuccess = True
self.done = True
if len(tArray) > 0:
self.totalTime += tArray[-1]
self.thisSimulTime = tArray[-1]
tStart = self.startT + self.totalTime / 3600.
if tStart >= 24 * self.gm.numDays:
tStart = 24 * self.gm.numDays - 1
if possibleCollision == False:
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
self.x_sims, self.y_sims = tempX[-1:], tempY[-1:]
plt.plot(tempX, tempY, self.lineType)
if self.x_sims != [] and self.y_sims != []:
if self.lastLegComplete:
tempRisk = self.GetRiskFromXY(self.x_sims, self.y_sims)
self.finX, self.finY = self.x_sims, self.y_sims
self.totalRisk += tempRisk
else:
if self.lastLegComplete:
self.totalRisk += self.gm.GetRisk(self.sLat, self.sLon)
else:
if self.CollisionReason == 'RomsNanAtStart':
self.totalRisk += self.gm.GetRisk(self.sLat, self.sLon)
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
if len(tempX) > 0 and len(tempY) > 0:
if self.CollisionReason == 'Obstacle' or self.CollisionReason == 'RomsNanLater':
self.totalRisk += self.GetRiskFromXY(
tempX[-1:], tempY[-1:])
self.finX, self.finY = tempX[-1], tempY[-1]
plt.plot(tempX, tempY, self.lineType)
self.x_sims, self.y_sims = 0, 0
self.done = True
return self.totalRisk, True # Landed on beach!
try:
self.a = (self.x_sims[0], self.y_sims[0])
self.finX, self.finY = self.a
except IndexError:
self.done = True
return self.totalRisk, True # Landed on beach
import pdb
pdb.set_trace()
if self.lastLegComplete == True: # Finished simulating a leg.
i = i + 1
else: # Since this is a re-entrant simulator... Get done here...
self.done = True
else: # We did not get a policy here.
self.CollisionReason = 'DidNotFindPolicy'
self.done = True
return self.totalRisk, False
def SimulateAndPlot_PolicyExecution_NS_R(self, simulTime=-1):
''' Simulate and plot the MDP policy execution in a re-entrant manner. This simulation is very useful
when we want to create a movie of how things are progressing. It can be called over and over again
after a single call to InitMDP_Simulation_
Args:
simulTime (float) : indicates the maximum amount of time we want to simulate for in hours. Defaults to -1, which means that it will only exit after completing the simulation.
PostDeltaSimCallback: default=None. This is a user-defined callback function which will be executed upon completion of the simulation.
PostSurfaceCallbackFn: default=None. This is a user-defined callback function which will be executed when the glider surfaces. This might happen
in between a surfacing.
Returns:
totalRisk (float): total risk associated with the path
collisionState (bool): True if collided with land. False if no collision detected.
'''
i = self.Indx
tStart = self.startT
#self.lastLegComplete = self.gm.doneSimulating;
if self.lastLegComplete == True:
self.numHops += 1
try:
#import pdb;pdb.set_trace()
#print 'Simulate.py before getpolicy:',self.bx, self.by
self.lastTransition = [(int(self.a[0] + 0.5),
int(self.a[1] + 0.5)),
(self.bx, self.by)]
# Used to be an integer
#self.bx, self.by = self.GetPolicyAtNodeCallbackFn((int(self.a[0]+0.5),int(self.a[1]+0.5)), self.goal)
#self.bx, self.by = self.GetPolicyAtNodeCallbackFn(self.a[0],self.a[1], self.goal) # Seems to be causing issues with debugSA_MDP.py
self.bx, self.by = self.GetPolicyAtNodeCallbackFn(
(self.a[0], self.a[1]), self.goal, tStart)
#self.bx, self.by = self.GetPolicyAtNodeCallbackFn('(%d,%d)' % (int(self.a[0]), int(self.a[1])), '(%d,%d)' % (self.goal[0], self.goal[1]))
#print 'Simulate.py after getpolicy:',self.bx, self.by
if self.PostSurfaceCallbackFn != None:
self.PostSurfaceCallbackFn(self.latArray, self.lonArray)
self.plot(a[0], a[1], 'k.')
self.b = (self.bx, self.by)
self.sLat, self.sLon = self.gm.GetLatLonfromXY(
self.a[0], self.a[1])
self.gLat, self.gLon = self.gm.GetLatLonfromXY(
self.b[0], self.b[1])
self.gm.InitSim(self.sLat, self.sLon, self.gLat, self.gLon,
self.gm.MaxDepth, tStart, self.DoFullSim,
self.HoldValsOffMap)
except TypeError:
self.bx, self.by = None, None
if self.bx != None and self.by != None:
#self.b = (self.bx, self.by)
#self.sLat, self.sLon = self.gm.GetLatLonfromXY(self.a[0], self.a[1])
#self.gLat, self.gLon = self.gm.GetLatLonfromXY(self.b[0], self.b[1])
xFin, yFin, latFin, lonFin, latArray, lonArray, depthArray, tArray, possibleCollision, CollisionReason, totalDist = \
self.gm.SimulateDive_R(simulTime) # If this is <1 it will have the same behavior as before.
self.xFin, self.yFin, self.latFin, self.lonFin, self.latArray, self.lonArray, self.depthArray, self.tArray, self.possibleCollision = \
xFin, yFin, latFin, lonFin, latArray, lonArray, depthArray, tArray, possibleCollision
self.totalPathLength += totalDist
self.CollisionReason = CollisionReason
self.lastLegComplete = self.gm.doneSimulating
if self.PostDeltaSimCallbackFn != None:
self.PostDeltaSimCallbackFn(latArray, lonArray)
self.distFromGoal = math.sqrt((self.a[0] - self.goal[0])**2 +
(self.a[1] - self.goal[1])**2)
if self.distFromGoal <= self.acceptR:
self.isSuccess = True
self.done = True
if len(tArray) > 0:
self.totalTime += tArray[-1]
self.thisSimulTime = tArray[-1]
tStart = self.startT + self.totalTime / 3600.
if tStart >= 24 * self.gm.numDays:
tStart = 24 * self.gm.numDays - 1
if possibleCollision == False:
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
self.x_sims, self.y_sims = tempX[-1:], tempY[-1:]
plt.plot(tempX, tempY, self.lineType)
if self.x_sims != [] and self.y_sims != []:
if self.lastLegComplete:
tempRisk = self.GetRiskFromXY(self.x_sims, self.y_sims)
self.finX, self.finY = self.x_sims, self.y_sims
self.totalRisk += tempRisk
else:
if self.lastLegComplete:
self.totalRisk += self.gm.GetRisk(self.sLat, self.sLon)
else:
if self.CollisionReason == 'RomsNanAtStart':
self.totalRisk += self.gm.GetRisk(self.sLat, self.sLon)
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
if len(tempX) > 0 and len(tempY) > 0:
if self.CollisionReason == 'Obstacle' or self.CollisionReason == 'RomsNanLater':
self.totalRisk += self.GetRiskFromXY(
tempX[-1:], tempY[-1:])
self.finX, self.finY = tempX[-1], tempY[-1]
plt.plot(tempX, tempY, self.lineType)
self.x_sims, self.y_sims = 0, 0
self.done = True
return self.totalRisk, True # Landed on beach!
try:
self.a = (self.x_sims[0], self.y_sims[0])
self.finX, self.finY = self.a
except IndexError:
self.done = True
return self.totalRisk, True # Landed on beach
import pdb
pdb.set_trace()
if self.lastLegComplete == True: # Finished simulating a leg.
i = i + 1
else: # Since this is a re-entrant simulator... Get done here...
self.done = True
else: # We did not get a policy here.
self.CollisionReason = 'DidNotFindPolicy'
self.done = True
return self.totalRisk, False
def PlotCorrelationAndSaveFig(yy, mm, dd, numDays, numPts):
#yy,mm,dd,numDays = 2011,4,1,15
gm = GliderModel(myDataDir + '/RiskMap.shelf', romsDataDir)
u, v, time1, depth, lat, lon = gm.GetRomsData(yy, mm, dd, numDays)
u_mean, v_mean = np.mean(u, axis=1), np.mean(v, axis=1)
s_mean = np.sqrt(u_mean * u_mean + v_mean * v_mean)
# Now let us look at the correlation in this variability over time.
(tMax, lyMax, lxMax) = s_mean.shape
u_mean = np.where(np.isnan(u_mean), 0, u_mean)
v_mean = np.where(np.isnan(v_mean), 0, v_mean)
s_mean = np.where(np.isnan(s_mean), 0, s_mean)
fig = plt.figure()
numPts = 10
plt.title(
'Plot of Auto-correlations in ocean current predictions for \n%d days from %04d-%02d-%02d'
% (numDays, yy, mm, dd))
ax1 = fig.add_subplot(311)
ax1.grid(True)
ax1.yaxis.label.set_text('Auto-Correlation\nCurrent u m/s')
x_pts, y_pts = np.arange(0.1, lxMax - 0.1,
numPts), np.arange(0.1, lyMax - 0.1, numPts)
X, Y = np.array(np.floor(x_pts), int), np.array(np.floor(y_pts), int)
for x in X:
for y in Y:
#plt.acorr(s_mean[:,x,y],usevlines=True,detrend=mlab.detrend_mean,normed=True,maxlags=None)
lags, cVec, linecols, lines = plt.acorr(u_mean[:, y, x],
usevlines=False,
normed=True,
maxlags=None,
lw=2)
plt.xlim((0, max(lags)))
ax2 = fig.add_subplot(312, sharex=ax1)
ax2.grid(True)
ax2.yaxis.label.set_text('Auto-Correlation\ncurrent v m/s')
for x in X:
for y in Y:
#plt.acorr(s_mean[:,x,y],usevlines=True,detrend=mlab.detrend_mean,normed=True,maxlags=None)
lags, cVec, linecols, lines = plt.acorr(v_mean[:, y, x],
usevlines=False,
normed=True,
maxlags=None,
lw=2)
plt.xlim((0, max(lags)))
ax3 = fig.add_subplot(313, sharex=ax1)
ax3.grid(True)
ax3.yaxis.label.set_text('Auto-Correlation\ncurrent mag. m/s')
for x in X:
for y in Y:
#plt.acorr(s_mean[:,x,y],usevlines=True,detrend=mlab.detrend_mean,normed=True,maxlags=None)
lags, cVec, linecols, lines = plt.acorr(s_mean[:, y, x],
usevlines=False,
normed=True,
maxlags=None,
lw=2)
plt.xlim((0, max(lags)))
ax1.xaxis.label.set_text('hour')
ax2.xaxis.label.set_text('hour')
ax3.xaxis.label.set_text('hour')
plt.savefig('AutoCorrelations_%04d%02d%02d_%d.pdf' % (yy, mm, dd, numDays),
pad_inches='tight',
transparent=True)
def __init__(self):
self.gm = GliderModel(dataShelf, dataDirectory)
pass
else:
tempX, tempY = gm.GetPxPyFromLatLon(np.array(latArray),
np.array(lonArray))
#plt.plot(tempX,tempY,'r.-')
x_sims, y_sims = 0, 0
simRuns.append((tempX, tempY, possibleCollision))
queue.put(simRuns)
cpuThreads = []
freeze_support()
if __name__ == "__main__":
plt.figure()
conf = GppConfig()
gm = GliderModel(conf.myDataDir + 'RiskMap.shelf',
conf.myDataDir + '/roms/')
plt.imshow(gm.riskMapArray, origin='lower')
start = time.time()
for i in range(4):
p = Process(target=MultiProcessedSimulator, args=(queue, ))
p.start()
cpuThreads.append(p)
x = cpuThreads.pop()
x.join(45)
sim = queue.get()
for x, y, posCol in sim:
if posCol:
plt.plot(x, y, 'r.-')
else:
import numpy as np
import scipy.io as sio
import shelve
import math
import gpplib
from gpplib.GenGliderModelUsingRoms import GliderModel
from gpplib.Utils import DateRange
import matplotlib.pyplot as plt
import pylab as P
yy,mm,dd,numDays = 2011,1,1,1
conf = gpplib.GppConfig()
gm = GliderModel(conf.myDataDir+'RiskMap.shelf',conf.romsDataDir)
u,v,time1,depth,lat,lon = gm.GetRomsData(yy,mm,dd,numDays)
u2ma,v2ma = np.ma.masked_array(u,np.isnan(u)),np.ma.masked_array(v,np.isnan(v))
s = np.sqrt(u2ma**2+v2ma**2)
tAvgS = s.mean(axis=0)
dtAvgS = tAvgS[0:100].mean(axis=0)
dtAvgS.filled(np.nan)
#n, bins, patches = P.hist(dtAvgS, 100, normed=1, histtype='stepfilled')
n, bins, patches = P.hist(dtAvgS, 100, normed=1, histtype='stepfilled')
P.setp(patches, 'facecolor', 'g', 'alpha', 0.75)
meanCur = dtAvgS.mean(axis=0).mean(axis=0)
print meanCur
plt.title('Histogram of ROMS currents on %04d-%02d-%02d.'%(yy,mm,dd))
plt.xlabel('Current Magnitudes m/sec')
plt.xlim((0.02,0.4))
plt.ylim((0,35))
plt.savefig('Hist_%04d%02d%02d.png'%(yy,mm,dd))
''' This program will find the average current direction between ranges of dates '''
import gpplib
from gpplib.GenGliderModelUsingRoms import GliderModel
from gpplib.InterpRoms import *
from gpplib.Utils import *
from matplotlib import pyplot as plt
#yy,mm,dd,numDays = 2013,8,12,22-12
yy, mm, dd, numDays = 2012, 8, 17, 24 - 17
MaxDepth, MinDepth = 80., 0.
conf = gpplib.Utils.GppConfig()
#gm = GliderModel(conf.myDataDir+'RiskMap3.shelf', conf.myDataDir+'roms5')
gm = GliderModel(conf.myDataDir + 'RiskMap3.shelf', conf.myDataDir + 'roms')
gm.GetRomsData(yy, mm, dd, numDays)
# Compute the average currents
d1, d2 = FindLowAndHighIndices(MaxDepth, gm.depth)
d0, d1 = FindLowAndHighIndices(MinDepth, gm.depth)
u2, v2 = gm.u[:, d0:d2, :, :], gm.v[:, d0:d2, :, :]
print 'Averaging depths between indices %d and %d.' % (d0, d2)
u2ma, v2ma = np.ma.masked_array(u2, np.isnan(u2)), np.ma.masked_array(
v2, np.isnan(v2))
dAvgU, dAvgV = u2ma.mean(axis=1).filled(np.nan), v2ma.mean(axis=1).filled(
np.nan)
dAvgMag = np.sqrt(dAvgU**2 + dAvgV**2)
def PlotCorrelationsWithLocations(yy,
mm,
dd,
numDays,
numPts,
startM=0,
endM=6):
gm = GliderModel(conf.myDataDir + 'RiskMap.shelf', romsDataDir)
cumVec_u = np.zeros((numPts**2, numDays * 24 * 2 - 1))
tLags = np.zeros((numPts**2, numDays * 24 * 2 - 1))
cumVec_v = np.zeros((numPts**2, numDays * 24 * 2 - 1))
cumVec_s = np.zeros((numPts**2, numDays * 24 * 2 - 1))
totAcc = 0
daysInMonths = [31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31]
if yy % 4 == 0:
daysInMonths[1] = 29
import pdb
pdb.set_trace()
for j in range(startM, endM):
for i in range(
0, daysInMonths[j + mm - 1],
1): # TODO: do this using with actual days in the month.
u, v, time1, depth, lat, lon = gm.GetRomsData(
yy, mm + j, dd + i, numDays)
u_mean, v_mean = np.mean(u, axis=1), np.mean(v, axis=1)
s_mean = np.sqrt(u_mean * u_mean + v_mean * v_mean)
#PlotFFTandSaveFig(yy,mm,dd+i,numDays)
lags_u, cVec_u, X, Y, lxMax, lyMax = GetCorrelationPlot(
gm, lat, lon, u_mean, yy, mm + j, dd + i, numDays, numPts)
lags_v, cVec_v, X, Y, lxMax, lyMax = GetCorrelationPlot(
gm, lat, lon, v_mean, yy, mm + j, dd + i, numDays, numPts)
lags_s, cVec_s, X, Y, lxMax, lyMax = GetCorrelationPlot(
gm, lat, lon, s_mean, yy, mm + j, dd + i, numDays, numPts)
#cVec,lags,nDays = PlotCorrelationsWithLocations(yy,mm,dd+i,numDays,numPts)
cumVec_u += cVec_u
cumVec_v += cVec_v
cumVec_s += cVec_s
tLags = lags_u
totAcc += 1
Thresh = 0.5
TimeScale = 48
CorrMatU, BinCorrMatU = PlotCorrelationWithLocations(
gm, tLags, cumVec_u / float(totAcc), X, Y, lat, lon, lyMax, lxMax,
'Plot of Auto-correlations in ocean current predictions for \n%d days from %04d-%02d-%02d'
% (totAcc, yy, mm, dd), 'Auto-Correlation\nCurrent u m/s',
'AutoCorrelate_U_mean', Thresh, TimeScale)
CorrMatV, BinCorrMatV = PlotCorrelationWithLocations(
gm, tLags, cumVec_v / float(totAcc), X, Y, lat, lon, lyMax, lxMax,
'Plot of Auto-correlations in ocean current predictions for \n%d days from %04d-%02d-%02d'
% (totAcc, yy, mm, dd), 'Auto-Correlation\nCurrent v m/s',
'AutoCorrelate_V_mean', Thresh, TimeScale)
CorrMatS, BinCorrMatS = PlotCorrelationWithLocations(
gm, tLags, cumVec_s / float(totAcc), X, Y, lat, lon, lyMax, lxMax,
'Plot of Auto-correlations in ocean current predictions for \n%d days from %04d-%02d-%02d'
% (totAcc, yy, mm, dd), 'Auto-Correlation\nCurrent s m/s',
'AutoCorrelate_S_mean', Thresh, TimeScale)
CorrShelf = shelve.open('CorrModel_%.2f_%d.shelf' % (Thresh, TimeScale))
CorrShelf['CorrMatU'], CorrShelf['BinCorrMatU'] = CorrMatU, BinCorrMatU
CorrShelf['CorrMatV'], CorrShelf['BinCorrMatV'] = CorrMatV, BinCorrMatV
CorrShelf['CorrMatS'], CorrShelf['BinCorrMatS'] = CorrMatS, BinCorrMatS
CorrShelf['tLags'] = tLags
CorrShelf['cumVec_u'], CorrShelf['cumVec_v'], CorrShelf[
'cumVec_s'] = cumVec_u, cumVec_v, cumVec_s
CorrShelf['X'], CorrShelf['Y'], CorrShelf['lat'], CorrShelf[
'lon'] = X, Y, lat, lon
CorrShelf['lyMax'], CorrShelf['lxMax'] = lyMax, lxMax
CorrShelf.close()
#import pdb; pdb.set_trace()
CorrMatU = np.where(np.isnan(CorrMatU), 0, CorrMatU)
CorrMatV = np.where(np.isnan(CorrMatV), 0, CorrMatV)
CorrMatS = np.where(np.isnan(CorrMatS), 0, CorrMatS)
figU = plt.figure()
plt.imshow(CorrMatU.transpose(),
origin='Upper',
cmap=plt.get_cmap(plt.cm.jet_r))
plt.title('Auto-correlation coefficient U (threshold %.2f @ %d hour lag)' %
(Thresh, TimeScale))
plt.colorbar()
plt.savefig('CorrMatU_Thresh%.2f_Lag%d.pdf' % (Thresh, TimeScale))
figV = plt.figure()
plt.imshow(CorrMatV.transpose(),
origin='Upper',
cmap=plt.get_cmap(plt.cm.jet_r))
plt.title('Auto-correlation coefficient V (threshold %.2f @ %d hour lag)' %
(Thresh, TimeScale))
plt.colorbar()
plt.savefig('CorrMatV_Thresh%.2f_Lag%d.pdf' % (Thresh, TimeScale))
figS = plt.figure()
plt.imshow(CorrMatS.transpose(),
origin='Upper',
cmap=plt.get_cmap(plt.cm.jet_r))
plt.title('Auto-correlation coefficient S (threshold %.2f @ %d hour lag)' %
(Thresh, TimeScale))
plt.colorbar()
plt.savefig('CorrMatS_Thresh%.2f_Lag%d.pdf' % (Thresh, TimeScale))
# Save to Matlab if Geoff needs this.
SaveCorrelationShelfToMatlabFormat(Thresh, TimeScale)
return CorrMatU, CorrMatV, CorrMatS, BinCorrMatU, BinCorrMatV, BinCorrMatS
class SA_GP_MDP(object):
def __init__(self,
shelfName='RiskMap3.shelf',
sfcst_directory='./',
dMax=1.5):
''' Args:
* shelfName (str) : Name of shelf-file that contains obstacle and risk maps.
* sfcst_directory( str ): Directory in which ROMS small forecast files have been stored.
'''
self.gm = GliderModel(shelfName, sfcst_directory)
self.gs = GliderSimulator(shelfName, sfcst_directory)
self.gsR = GliderSimulator(shelfName, sfcst_directory)
self.Dmax = dMax
self.maxLengths = 50
self.acceptR = 0.6
self.locG = self.gm.lpGraph.copy()
for a in self.locG.nodes():
print a
np.set_printoptions(precision=2)
self.possibleCollision = False
self.Rwd = {}
self.mdp = {}
self.gamma = 1.0
self.maxDepth = 80.
self.w_r = -1.
self.w_g = 10.
self.theta = {}
self.theta['w_r'], self.theta['w_g'] = self.w_r, self.w_g
self.RewardsHaveChanged = False
self.tMax = 48
self.tExtra = 12
#self.ReInitializeMDP()
def GetTransitionModelFromShelf(self,
yy,
mm,
dd,
s_indx,
e_indx,
posNoise=None,
currentNoise=None,
shelfDirectory='.'):
""" Loads up Transition models from the shelf for a given number of days, starting from a particular day, and a given amount of noise in position and/or a given amount of noise in the current predictions. We assume these models have been created earlier using ProduceTransitionModels.
Args:
* yy (int): year
* mm (int): month
* dd (int): day
* s_indx (int): start index for the transition model
* e_indx (int): end index for the transition model
* posNoise (float): Amount of std-deviation of the random noise used in picking the start location
* currentNoise (float): Amount of prediction noise in the ocean model
* shelfDirectory (str): Directory in which the Transition models are located.
Updates:
* self.gm.FinalLocs: Stores the final locations
"""
print 'Loading Transition model from Shelf'
self.posNoise = posNoise
self.currentNoise = currentNoise
#import pdb; pdb.set_trace()
if posNoise == None and currentNoise == None:
gmShelf = shelve.open(
'%s/gliderModelGP2_%04d%02d%02d_%d_%d.shelf' %
(shelfDirectory, yy, mm, dd, s_indx, e_indx),
writeback=False)
if posNoise != None:
if currentNoise != None:
gmShelf = shelve.open(
'%s/gliderModelGP2_%04d%02d%02d_%d_%d_%.3f_RN_%.3f.shelf' %
(shelfDirectory, yy, mm, dd, s_indx, e_indx, posNoise,
currentNoise),
writeback=False)
else:
gmShelf = shelve.open(
'%s/gliderModelGP2_%04d%02d%02d_%d_%d_%.3f.shelf' %
(shelfDirectory, yy, mm, dd, s_indx, e_indx, posNoise),
writeback=False)
if posNoise == None and currentNoise != None:
gmShelf = shelve.open(
'%s/gliderModelGP2_%04d%02d%02d_%d_%d_RN_%.3f.shelf' %
(shelfDirectory, yy, mm, dd, s_indx, e_indx, currentNoise),
writeback=False)
self.gm.TransModel = gmShelf['TransModel']
#if gmShelf.has_key('FinalLocs'):
self.gm.FinalLocs = gmShelf['FinalLocs']
if gmShelf.has_key('TracksInModel'):
self.gm.TracksInModel = gmShelf['TracksInModel']
gmShelf.close()
# Now that we have loaded the new transition model, we better update our graph.
self.ReInitializeMDP()
def ReInitializeMDP(self):
self.mdp['U'] = np.zeros((
self.gm.Height,
self.gm.Width,
))
self.mdp['Uprime'] = np.zeros((self.gm.Height, self.gm.Width))
self.locG = self.gm.lpGraph.copy()
self.BuildTransitionGraph()
def BuildTransitionGraph(self):
''' Compute the transition graph from all the available edges in the transition model '''
self.g = nx.DiGraph()
for a in self.locG.nodes():
for b in self.locG.nodes():
if a != b:
i, j = self.GetXYfromNodeStr(a)
x, y = self.GetXYfromNodeStr(b)
edge_str = '%d,%d,%d,%d' % (i, j, x, y)
if self.gm.TransModel.has_key(edge_str):
W_, H_, T_ = self.gm.TransModel[edge_str][2].shape
rwd = self.GetRewardForStateAction((i, j), edge_str)
self.g.add_edge((i, j), (x, y),
weight=rwd,
trapped=False)
# Store a copy of g, so that we can re-run the MDP when needed. This
# is in case we end up adding multiple goals etc.
self.g_copy = self.g.copy()
def GetXYfromNodeStr(self, nodeStr):
''' Convert from the name of the node string to the locations.
Args:
nodeStr (string): A string in the form of '(x,y)'.
Returns:
x,y if the string is in the form expected.
None,None if a mal-formed string.
'''
m = re.match('\(([0-9\.]+),([0-9\.]+)\)', nodeStr)
if m:
return int(m.group(1)), int(m.group(2))
else:
return None, None
def GetRewardForStateAction(self, state, action):
''' Get the reward for a state-action pair. Use a dictionary
to perform a lookup if we have already computed this earlier.
Args:
state (tuple) : node we are currently evaluating. (t1,x1,y1)
action (tuple): action (or edge) we are currently computing the reward for.
Updates:
self.Rwd[state-action-pair] with computed reward.
Returns:
self.Rwd[state-action-pair] if previously computed, else compute it and return result.
'''
OffMapNotObs = True # Treat locations off the map as high-risk locations
state_action_pair = (state, action)
if self.Rwd.has_key(state_action_pair) and not self.RewardsHaveChanged:
return self.Rwd[state_action_pair]
else:
t, x, y = state
X, Y, T = self.gm.FinalLocs[action]
tot_rwd = 0.
totNum = len(np.nonzero(self.gm.FinalLocs[action][0][0]))
for i in range(0, totNum):
lat, lon = self.gm.GetLatLonfromXY(x + X[i], y + Y[i])
riskVal = self.gm.GetRisk(lat, lon, OffMapNotObs) * self.w_r
tot_rwd += riskVal
if totNum > 0:
self.Rwd[state_action_pair] = tot_rwd / totNum
else:
self.Rwd[state_action_pair] = tot_rwd
print state, action, self.Rwd[state_action_pair]
self.RewardsHaveChanged = False
return self.Rwd[state_action_pair]
def SetGoalAndInitTerminalStates(self, goal, rewardVal=10.):
''' Set the goal location and initialize everything including terminal states.
Args:
goal(x,y) : tuple with (x,y) given in graph coordinates.
rewardVal (float) : Reward value for getting to the goal. Defaults to 10.
'''
self.ReInitializeMDP()
self.mdp['U'][goal[1], goal[0]] = rewardVal
self.mdp['Uprime'] = self.mdp['U'].copy()
self.goal = goal
self.goalReached = False
''' The goal is a trapping state, so we remove all the out-going edges from the goal, and
add a self-edge with weight zero. '''
for u, v, d in self.g.in_edges((goal[0], goal[1]), data=True):
d['weight'] = rewardVal
d['trapped'] = False
d['goal_edge'] = True
for u, v, d in self.g.out_edges((goal[0], goal[1]), data=True):
self.g.remove_edge(u, v)
self.g.add_edge((goal[0], goal[1]), (goal[0], goal[1]), weight=0.)
def SetGoalAndRewardsAndInitTerminalStates(self, goal, theta):
''' Set the goal location and initialize everything including terminal states.
Args:
goal(x,y) : tuple with (x,y) given in graph coordinates.
theta (dict) : theta['w_r'] - reward for normal states,
theta['w_g'] - reward for goal states
'''
print 'Using new theta:', theta
self.w_r = theta['w_r']
self.w_g = theta['w_g']
self.theta = theta
self.RewardsHaveChanged = True
self.ReInitializeMDP()
self.mdp['U'][(goal[1], goal[0])] = self.w_g
self.mdp['Uprime'] = self.mdp['U'].copy()
self.goal = goal
self.goalReached = False
''' The goal is a trapping state, so we remove all the out-going edges from the goal, and
add a self-edge with weight zero. '''
for u, v, d in self.g.in_edges((goal[0], goal[1]), data=True):
d['weight'] = self.w_g
d['goal_edge'] = True
for u, v, d in self.g.out_edges((goal[0], goal[1]), data=True):
self.g.remove_edge(u, v)
self.g.add_edge((goal[0], goal[1]), (goal[0], goal[1]), weight=0.)
def doValueIteration(self, eps=0.00001, MaxRuns=50):
''' Perform Value Iteration.
Args:
eps( float ): epsilon -> a small value which indicates the maximum change in utilities over
an iteration.
MaxRuns (int): maximum number of runs to do value iteration for. If negative, we will quit when the
epsilon criterion is reached.
Note: set the value of gamma between 0 and 1. Gamma is 1 by default.
'''
print 'Doing Value Iteration'
for i in range(0, MaxRuns):
print 'Iteration %d' % (i)
iterStartTime = time.time()
lastTime = time.time()
self.mdp['U'] = self.mdp['Uprime'].copy()
self.delta = 0.
for nodeNum, node in enumerate(self.g.nodes()):
x, y = node
Utils = self.CalculateTransUtilities((x, y))
ExpUtilVec = Utils.values()
if nodeNum % 10 == 0:
print '%d) %.3f' % (nodeNum,
time.time() - iterStartTime), (x, y)
#print t1,x,y,ExpUtilVec
#import pdb; pdb.set_trace()
if len(ExpUtilVec):
try:
maxExpectedUtility = np.max(ExpUtilVec)
#print x,y,maxExpectedUtility
self.mdp['Uprime'][y, x] = maxExpectedUtility
except ValueError:
import pdb
pdb.set_trace()
maxExpectedUtility = np.max(ExpUtilVec.all())
print maxExpectedUtility, ExpUtilVec
absDiff = abs(self.mdp['Uprime'][y, x] - self.mdp['U'][y, x])
if (absDiff > self.delta):
self.delta = absDiff
print 'delta=%f' % (self.delta)
print 'U', self.mdp['U']
if (self.delta <= eps * (1 - self.gamma) / self.gamma):
print 'delta is smaller than eps %f. Terminating.' % (
self.delta)
break
iterEndTime = time.time()
print 'Took %f seconds for iteration %d.' % (iterEndTime -
iterStartTime, i)
# Get Policy tree.
self.GetPolicyTreeForMDP()
def CalculateTransUtilities(self, state):
''' Get all the transition utilities based upon all the actions we can take from this state.
Args:
state( x, y ) : tuple containing time, x and y locations in graph co-ordinates.
'''
x, y = state
# Transition graph should have all the outgoing edges from this place via neighbors of this node.
# To see weights in graph we can do self.g[(i,j)][(k,l)]['weight']
UtilVec = {}
for u, v, d in self.g.out_edges((x, y), data=True):
sa_rwd = d['weight']
''' Goals are trapping terminal states '''
if d.has_key('goal_edge'):
if self.goalReached:
sa_rwd = 0.
else:
self.goalReached = True
# Now, set the weight of this edge to zero.
d['weight'] = 0.
d['trapped'] = True
x1, y1 = u
x2, y2 = v
UtilVec[(
u, v
)] = sa_rwd + self.gamma * self.GetUtilityForStateTransition(u, v)
return UtilVec
def GetUtilityForStateTransition(self, state, state_prime):
''' Compute the utility for performing the state transition of going from state to state_prime.
Args:
state( tuple of int, int, int ) : state t, x, y in planning graph coods.
state_prime (int, int, int) : state_prime t,x,y in planning graph coods.
Returns:
Utility (float) : utility for this state transition. '''
x, y = state
xp, yp = state_prime
width, height = self.gm.Width, self.gm.Height
Util = 0.
totalProb = 0
transProb = 0
if yp == self.goal[1] and xp == self.goal[0]:
return self.mdp['U'][y, x]
stateTrans = '%d,%d,%d,%d' % (x, y, xp, yp)
if self.gm.TransModel.has_key(stateTrans):
transProbs = self.gm.TransModel[stateTrans][2]
tPSize = self.gm.TransModel[stateTrans][1]
zeroLoc = self.gm.TransModel[stateTrans][0]
W_, H_, T_ = self.gm.TransModel[stateTrans][2].shape
# iterate over all possible actions
for j in range(0, int(tPSize)):
for i in range(0, int(tPSize)):
if transProbs[j][i] > 0.:
state_action = (x + i - zeroLoc, y + j - zeroLoc)
if i != j:
if self.isOnMap(state_prime) and self.isOnMap(
state_action):
if not self.gm.ObsDetLatLon(self.gm.lat_pts[yp],self.gm.lon_pts[xp], \
self.gm.lat_pts[y], self.gm.lon_pts[x]):
Util += transProbs[j][i] * self.mdp['U'][
y + j - zeroLoc, x + i - zeroLoc]
transProb += transProbs[j][i]
if totalProb != 1:
transProb = 1 - totalProb
Util += transProb * -1. #self.mdp['U'][ t1,y,x ] ## Rest is probably a crash!!!
return Util
def GetRomsData(self,
yy,
mm,
dd,
numDays,
UpdateSelf=True,
usePredictionData=False):
''' Loads up ROMs data from a particular day, for a certain number of days and supports self-update
Args:
yy (int): year
mm (int): month
dd (int): day
numDays (int): number of days the model is being built over
UpdateSelf (bool): Should the MDP update itself with the ROMS data being loaded?
'''
useNewFormat = True
u, v, time1, depth, lat, lon = self.gm.GetRomsData(
yy, mm, dd, numDays, useNewFormat, usePredictionData)
u, v, time1, depth, lat, lon = self.gs.gm.GetRomsData(
yy, mm, dd, numDays, useNewFormat, usePredictionData)
u, v, time1, depth, lat, lon = self.gsR.gm.GetRomsData(
yy, mm, dd, numDays, useNewFormat, usePredictionData)
if UpdateSelf:
self.u, self.v, self.time1, self.depth, self.lat, self.lon = u, v, time1, depth, lat, lon
self.yy, self.mm, self.dd = yy, mm, dd
self.numDays = numDays
self.gm.numDays = numDays
return u, v, time1, depth, lat, lon
def isOnMap(self, s):
''' Test whether the state being tested is within the map.
Args:
s (tuple(x,y) ) : tuple with 't','x' and 'y' values
'''
x, y = s
if x < 0 or x >= self.gm.Width:
return False
if y < 0 or y >= self.gm.Height:
return False
return True
''' -------------------------------------------------------------------------------------------
---------------------------------- Code to create the policy tree -----------------------------
--------------------------------------------------------------------------------------------'''
def DisplayPolicyAtTimeT(self, FigHandle=None):
''' Display MDP policy
Args:
FigHandle -> Pyplot.Figure handle if we want to draw the policy on the
previous figure. If this is not passed, a new figure will be created.
'''
width, height = self.gm.Width, self.gm.Height
Xpolicy = np.zeros((width, height))
Ypolicy = np.zeros((width, height))
Xloc, Yloc = np.zeros((width, height)), np.zeros((width, height))
Uprime = self.mdp['U']
if FigHandle == None:
plt.figure()
self.gm.PlotNewRiskMapFig()
for a in self.locG.nodes():
x, y = self.GetXYfromNodeStr(a)
Xloc[x][y], Yloc[x][y] = x, y
UtilVec = np.zeros(8 * 60)
maxUtil = -float('inf')
k, maxU, maxV = 0, 0, 0
a1 = (x, y)
for u, v, d in self.g.out_edges(a1, data=True):
#i,j = self.GetXYfromNodeStr(v)
i, j = v
UtilVec[k] = Uprime[t, j, i]
if maxUtil <= UtilVec[k]:
maxUtil = UtilVec[k]
maxU, maxV = i - x, j - y
k = k + 1
Xpolicy[x][y], Ypolicy[x][y] = 0.5 * maxU, 0.5 * maxV
plt.quiver(Xloc,
Yloc,
Xpolicy,
Ypolicy,
scale=10 * math.sqrt(maxU**2 + maxV**2))
plt.title('MDP Policy')
return Xpolicy, Ypolicy
def GetPolicyTreeForMDP(self):
''' Get the policy tree for the MDP. This is required in order for us to be able to
simulate.
'''
width, height = self.gm.Width, self.gm.Height
Uprime = self.mdp['Uprime']
self.gm2 = nx.DiGraph()
for a in self.g.nodes():
x, y = a
UtilVec = np.zeros(8 * 60)
maxUtil = -float('inf')
k, maxU, maxV = 0, 0, 0
#import pdb; pdb.set_trace()
for u, v, d in self.g.out_edges(a, data=True):
i, j = v
UtilVec[k] = Uprime[j, i]
if maxUtil <= UtilVec[k]:
maxUtil = UtilVec[k]
maxU, maxV = i - x, j - y
bestNode = v
k = k + 1
if not (maxU == 0 and maxV == 0):
self.gm2.add_edge(a, bestNode, weight=maxUtil)
'''
if self.UseNetworkX == False:
dot = write(self.gm2)
G = gv.AGraph(dot)
G.layout(prog = 'dot')
G.draw('SCB_MDP_MSG.png')
'''
return self.gm2
def GetPolicyAtCurrentNode(self, curNode, goal, forceGoal=False):
#self.gLat, self.gLon = self.gm.GetLatLonfromXY(self.b[0], self.b[1])
#if (self.gLat,self.gLon)!=self.lastGoal:
# self.lastGoal = (self.gLat,self.gLon)
# self.PolicyToGoal.append(lastGoal)
print 'Current Node: (%f,%f)' % (curNode[0], curNode[1])
print 'Goal Node: (%f,%f)' % (self.goal[0], self.goal[1])
if curNode == self.goal:
targetX, targetY = self.goal[0], self.goal[1]
a = (t, int(curNode[0] + 0.5), int(curNode[1] + 0.5))
i, j = None, None
for u, v, d in self.gm2.out_edges(a, data=True):
i, j = v
targetX, targetY = i, j
#if targetX==None and targetY==None:
# targetX,targetY = self.FindNearestNodeOnGraph(curNode,t)
targetLat, targetLon = self.gm.GetLatLonfromXY(targetX, targetY)
if (targetX, targetY) != self.lastGoal:
self.lastGoal = (targetX, targetY)
self.PolicyToGoal.append((targetLat, targetLon))
print 'Next Node: (%f,%f)' % (targetX, targetY)
return targetX, targetY
def FindNearestNodeOnGraph(self, curNode, t):
nearest_dist = float('inf')
best_utility = -float('inf')
nearest_node = (None, None)
for a in self.locG.nodes():
i, j = curNode
x, y = self.GetXYfromNodeStr(a)
#t1,x,y = a
dist = math.sqrt((i - x)**2 + (j - y)**2)
#if not self.gm.ObsDetLatLon(self.gm.lat_pts[j],self.gm.lon_pts[i], \
# self.gm.lat_pts[y],self.gm.lon_pts[x]):
lat1, lon1 = self.gm.GetLatLonfromXY(i, j)
lat2, lon2 = self.gm.GetLatLonfromXY(x, y)
if not self.gm.ObsDetLatLon(lat1, lon1, lat2, lon2):
if self.mdp['U'][
y, x] > best_utility and dist < self.Dmax and self.mdp[
'U'][y, x] != 0.:
best_utility = self.mdp['U'][y, x]
nearest_node = (x, y)
return nearest_node
''' -------------------------------------------------------------------------------------------
---------------------------------- Code for Performing Simulations ----------------------------
--------------------------------------------------------------------------------------------'''
def GetRiskFromXY(self, x, y):
''' Looks up the risk value for x,y from the risk-map
Args:
x,y (float,float) : x and y in graph coordinates.
'''
lat, lon = self.gm.GetLatLonfromXY(x, y)
return self.gm.GetRisk(lat, lon)
def SimulateAndPlotMDP_PolicyExecution(self,
start,
goal,
simStartTime,
newFig=True,
lineType='r-',
NoPlot='False'):
''' Simulate and Plot the MDP policy execution.
Args:
start (x,y) : tuple containing the start vertex on the graph
goal (x,y) : tuple containing the goal vertex on the graph
k (int) : time in hours for the simulation to start from
newFig (bool) : default=True, creates a new figure if set to true. If multiple simulations need overlaying, this is set to false.
lineType (string): matplotlib line type. defaults to 'r-'
NoPlot (bool) : default = False. Indicates that we do not want this plotted. (FIXME: Needs implementation).
Returns:
totalRisk (float): total risk associated with the path
collisionState (bool): True if collided with land. False if no collision detected.
'''
if newFig:
plt.figure()
plt.title('Plotting Min-Exp Risk Ensemble')
self.gm.PlotNewRiskMapFig()
self.totalRisk = 0
self.distFromGoal = float('inf')
self.totalPathLength = 0.
self.totalTime = 0
self.goal = goal
self.start = start
self.numHops = 0
self.isSuccess = False
self.PolicyToGoal = []
self.lastGoal = (None, None)
return self.gs.SimulateAndPlot_PolicyExecution_NS(
start, goal, simStartTime, self.maxDepth,
self.GetPolicyAtCurrentNode, lineType, newFig)
def InitMDP_Simulation(self,
start,
goal,
startT,
lineType='r',
newFig=False):
''' Initialize Simulation of the MDP policy execution.
Args:
start (x,y) : tuple containing the start vertex on the graph
goal (x,y) : tuple containing the goal vertex on the graph
startT (int) : time in hours for the simulation to start from
lineType (string): matplotlib line type. defaults to 'r-'
newFig (bool) : default=True, creates a new figure if set to true. If multiple simulations need overlaying, this is set to false.
'''
self.DoFullSim = False
self.HoldValsOffMap = True
if newFig:
plt.figure()
plt.title('Plotting Min-Exp Risk Ensemble')
self.gm.PlotNewRiskMapFig()
self.totalRisk = 0
self.distFromGoal = float('inf')
self.totalPathLength = 0.
self.totalTime = 0
self.goal = goal
self.start = start
self.numHops = 0
self.isSuccess = False
self.a = self.start
self.done = False
self.Indx = 0
self.lineType = lineType
self.possibleCollision = False
#x_sims,y_sims = np.zeros((24*gm.numDays,1)),np.zeros((24*gm.numDays,1))
#if startT>=(24*self.gm.numDays):
# startT = 24*self.gm.numDays-1
self.startT = startT
self.x_sims, self.y_sims = 0, 0
self.finX, self.finY = start[0], start[1]
self.sLat, self.sLon = self.gm.GetLatLonfromXY(self.start[0],
self.start[1])
self.gLat, self.gLon = self.gm.GetLatLonfromXY(self.goal[0],
self.goal[1])
self.latArray, self.lonArray = [], []
#self.gm.InitSim(self.sLat,self.sLon,self.gLat,self.gLon,self.gm.MaxDepth,startT,self.DoFullSim,self.HoldValsOffMap)
#import pdb; pdb.set_trace()
self.lastLegComplete = True
self.bx, self.by = None, None
self.lastTransition = None
self.PolicyToGoal = [
] # A new addition which uses the simulated policy to goal
# to have a policy look-ahead so that in case
# the glider does not communicate back, there is a
# fall-back plan for it toward the goal.
self.lastGoal = (None, None)
def SimulateAndPlotMDP_PolicyExecution_R(self,
simulTime=-1,
PostDeltaSimCallback=None,
PostSurfaceCallbackFn=None):
''' Simulate and plot the MDP policy execution in a re-entrant manner. This simulation is very useful
when we want to create a movie of how things are progressing. It can be called over and over again
after a single call to InitMDP_Simulation_
Args:
simulTime (float) : indicates the maximum amount of time we want to simulate for in hours. Defaults to -1, which means that it will only exit after completing the simulation.
PostDeltaSimCallback: default=None. This is a user-defined callback function which will be executed upon completion of the simulation.
PostSurfaceCallbackFn: default=None. This is a user-defined callback function which will be executed when the glider surfaces. This might happen
in between a surfacing.
Returns:
totalRisk (float): total risk associated with the path
collisionState (bool): True if collided with land. False if no collision detected.
'''
i = self.Indx
tStart = self.startT
#self.lastLegComplete = self.gm.doneSimulating;
if self.lastLegComplete == True:
self.numHops += 1
try:
self.lastTransition = [(int(self.a[0] + 0.5),
int(self.a[1] + 0.5)),
(self.bx, self.by)]
#self.bx, self.by = self.GetPolicyAtCurrentNode('(%d,%d)' % (int(self.a[0]), int(self.a[1])), '(%d,%d)' % (self.goal[0], self.goal[1]))
self.bx, self.by = self.GetPolicyAtCurrentNode(
(self.a[0], self.a[1]), (self.bx, self.by))
if PostSurfaceCallbackFn != None:
PostSurfaceCallbackFn(self.latArray, self.lonArray)
self.b = (self.bx, self.by)
self.sLat, self.sLon = self.gm.GetLatLonfromXY(
self.a[0], self.a[1])
self.gLat, self.gLon = self.gm.GetLatLonfromXY(
self.b[0], self.b[1])
if (self.gLat, self.gLon) != self.lastGoal:
self.lastGoal = (self.gLat, self.gLon)
self.PolicyToGoal.append(self.lastGoal)
self.gm.InitSim(self.sLat, self.sLon, self.gLat, self.gLon,
self.gm.MaxDepth, tStart, self.DoFullSim,
self.HoldValsOffMap)
except TypeError:
self.bx, self.by = None, None
if self.bx != None and self.by != None:
#self.b = (self.bx, self.by)
#self.sLat, self.sLon = self.gm.GetLatLonfromXY(self.a[0], self.a[1])
#self.gLat, self.gLon = self.gm.GetLatLonfromXY(self.b[0], self.b[1])
xFin, yFin, latFin, lonFin, latArray, lonArray, depthArray, tArray, possibleCollision, CollisionReason, totalDist = \
self.gm.SimulateDive_R(simulTime) # If this is <1 it will have the same behavior as before.
self.xFin, self.yFin, self.latFin, self.lonFin, self.latArray, self.lonArray, self.depthArray, self.tArray, self.possibleCollision = \
xFin, yFin, latFin, lonFin, latArray, lonArray, depthArray, tArray, possibleCollision
self.totalPathLength += totalDist
self.CollisionReason = CollisionReason
self.lastLegComplete = self.gm.doneSimulating
if PostDeltaSimCallback != None:
PostDeltaSimCallback(latArray, lonArray)
self.distFromGoal = math.sqrt((self.a[0] - self.goal[0])**2 +
(self.a[1] - self.goal[1])**2)
if self.distFromGoal <= self.acceptR:
self.isSuccess = True
self.done = True
if len(tArray > 0):
self.totalTime += tArray[-1]
self.thisSimulTime = tArray[-1]
tStart = self.startT + self.totalTime / 3600.
if tStart >= 24 * self.gm.numDays:
tStart = 24 * self.gm.numDays - 1
if possibleCollision == False:
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
self.x_sims, self.y_sims = tempX[-1:], tempY[-1:]
plt.plot(tempX, tempY, self.lineType)
if self.x_sims != [] and self.y_sims != []:
if self.lastLegComplete:
tempRisk = self.GetRiskFromXY(self.x_sims, self.y_sims)
self.finX, self.finY = self.x_sims, self.y_sims
self.totalRisk += tempRisk
else:
if self.lastLegComplete:
self.totalRisk += self.gm.GetRisk(self.sLat, self.sLon)
else:
if self.CollisionReason == 'RomsNanAtStart':
self.totalRisk += self.gm.GetRisk(self.sLat, self.sLon)
tempX, tempY = self.gm.GetXYfromLatLon(np.array(latArray),
np.array(lonArray))
if len(tempX) > 0 and len(tempY) > 0:
if self.CollisionReason == 'Obstacle' or self.CollisionReason == 'RomsNanLater':
self.totalRisk += self.GetRiskFromXY(
tempX[-1:], tempY[-1:])
self.finX, self.finY = tempX[-1], tempY[-1]
plt.plot(tempX, tempY, self.lineType)
self.x_sims, self.y_sims = 0, 0
self.done = True
return self.totalRisk, True # Landed on beach!
try:
self.a = (self.x_sims[0], self.y_sims[0])
self.finX, self.finY = self.a
except IndexError:
self.done = True
return self.totalRisk, True # Landed on beach
#import pdb; pdb.set_trace()
if self.lastLegComplete == True: # Finished simulating a leg.
i = i + 1
#if i > self.maxLengths:
# self.CollisionReason = 'MaxHopsExceeded'
# self.done = True
else: # Since this is a re-entrant simulator... Get done here...
self.done = True
else: # We did not get a policy here.
self.CollisionReason = 'DidNotFindPolicy'
self.done = True
return self.totalRisk, False
from gpplib.GenGliderModelUsingRoms import GliderModel
import numpy as np
import scipy.io as sio
import math
import shelve
import os, re
import time
daysInMonths = [31,28,31,30,31,30,31,31,30,31,30,31]
gModel = {}
yy,mm,dd,numDays,dMax = 2011,1,1,2,1.5
gm = GliderModel('../gpplib/RiskMap.shelf','/Users/arvind/data/roms/')
global gmShelf
useNoise = True
useRomsNoise = True
curNoiseVals = [0.01, 0.025, 0.05, 0.1, 0.15, 0.2, 0.32, 0.5]
for mm in range(2,3):
for i in range(0,daysInMonths[mm-1],numDays):
for j in range(0,len(curNoiseVals)):
print 'Generating the transition model for %04d-%02d-%02d over %d hours using Current Noises of %.3f'%(yy,mm,dd+i,numDays*24,curNoiseVals[j])
startTime = time.time()
#gModel['TransModel'] = gm.GenerateTransitionModelsUsingRomsData(yy,mm,dd+i,numDays,dMax)
if useRomsNoise:
curNoiseSigma = curNoiseVals[j]
gm.UseRomsNoise = True
gm.sigmaCurU = curNoiseSigma; gm.sigmaCurV = curNoiseSigma;
def __init__(self, riskMap, romsDataDir='./', acceptR=0.6, **kwargs):
self.gm = GliderModel(riskMap, romsDataDir)
self.Init_Simulation()
self.acceptR = acceptR
