def addSet(self): robotCfg = './/data//' + 'test2_tutorial.txt' robCfg = Read_Cfg(robotCfg) for i in range(5): _set = [] robCfg.get('set' + str(i), _set) setTrace = go.Box(y=_set, name='$ G_' + str(i + 1) + '$') self.drawData.append(setTrace)
def addMakeSpan(self): robotCfg = './/data//' + 'test1_tutorial.txt' robCfg = Read_Cfg(robotCfg) _set = [] robCfg.get('makespan', _set) for i in range(len(_set)): _set[i] = _set[i] * 4 setTrace = go.Box(y=_set, name='Makespan') self.drawData.append(setTrace)
def addRobotStartPnt(self): robotCfg = './/data//' + 'planDebug.txt' robCfg = Read_Cfg(robotCfg) lstx = [] lsty = [] robCfg.get('start_x', lstx) robCfg.get('start_y', lsty) for i in range(len(lstx)): rangeLst = go.Scatter(x=[lstx[i]], y=[lsty[i]], mode='markers', marker=dict(symbol='cross-dot', size=15), name='Robot_' + str(i + 1)) self.drawData.append(rangeLst)
def addSpanningTree(self): robotCfg = './/data//' + 'planDebug.txt' robCfg = Read_Cfg(robotCfg) lstx = [] lsty = [] robCfg.get('start_x', lstx) robCfg.get('start_y', lsty) robNum = len(lstx) for i in range(robNum): _tvx = [] _tvy = [] _svx = [] _svy = [] robCfg.get('tvx_' + str(i), _tvx) # print(_tvx) robCfg.get('tvy_' + str(i), _tvy) robCfg.get('svx_' + str(i), _svx) robCfg.get('svy_' + str(i), _svy) mark_x = [] mark_y = [] for p in range(len(_tvx)): pnt0 = Pnt(_tvx[p], _tvy[p]) pnt1 = Pnt(_svx[p], _svy[p]) mark_x.append(_tvx[p]) mark_x.append(_svx[p]) mark_y.append(_tvy[p]) mark_y.append(_svy[p]) line = Line(pnt0, pnt1) lineDic = line.line2dict() # print(randColor()) lineDic['line']['color'] = 'rgba(15,15,15,0.5)' lineDic['line']['width'] = 3 self.shapeLst.append(copy.deepcopy(lineDic)) markTrace = go.Scatter(mode='markers', x=mark_x, y=mark_y, marker=dict(size=15), name='Spanning-Tree_' + str(i + 1)) self.drawData.append(markTrace) return 1
def addPath(self): robotCfg = './/data//' + 'planDebug.txt' robCfg = Read_Cfg(robotCfg) lstx = [] lsty = [] robCfg.get('start_x', lstx) robCfg.get('start_y', lsty) robNum = len(lstx) for i in range(robNum): _path_x = [] _path_y = [] robCfg.get('path_x_' + str(i), _path_x) robCfg.get('path_y_' + str(i), _path_y) pathTrace = go.Scatter( x=_path_x, y=_path_y, mode='lines', line=dict( shape='spline', # dash = 'dot', width=4), name='Path_' + str(i + 1)) self.drawData.append(pathTrace)
def drawPic(cfgFileName='5_20_20_80_Outdoor_Cfg.txt', drawType=1, fileName='nothing', fileType=False): # py.sign_in('tesla_fox', 'HOTRQ3nIOdYUUszDIfgN') conFileDir = './/data//' degNameCfg = conFileDir + cfgFileName readCfg = Read_Cfg(degNameCfg) data = [] readCfg.get('row', data) row = int(data.pop()) readCfg.get('col', data) col = int(data.pop()) mat = zeros((row, col)) obRowLst = [] obColLst = [] readCfg.get('obRow', obRowLst) readCfg.get('obCol', obColLst) for i in range(len(obRowLst)): obRow = int(obRowLst[i]) obCol = int(obColLst[i]) mat[obRow][obCol] = 1 robRowLst = [] robColLst = [] readCfg.get('robRow', robRowLst) readCfg.get('robCol', robColLst) #case 1 draw Environment if (drawType == 1): env = Env(mat) env.addgrid() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) env.drawPic('./png/env_' + cfgFileName, fileType) #case 2 draw Environment with edges if (drawType == 2): env = Env(mat) edgeNameCfg = conFileDir + 'obmapDeg.txt' edgeCfg = Read_Cfg(edgeNameCfg) edgeData = [] edgeUnit = [] edgeCfg.get('sRow', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('sCol', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tRow', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tCol', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdges(edgeData) env.addTest() env.drawPic('./png/edges', fileType=False) #case 3 draw Envirionment with edges in pnt if (drawType == 3): env = Env(mat) edgeNameCfg = conFileDir + 'obmapDeg.txt' edgeCfg = Read_Cfg(edgeNameCfg) edgeData = [] edgeUnit = [] edgeCfg.get('sPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('sPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdgeInPnt(edgeData) env.addTest() env.drawPic('./png/edgesInPnt', fileType=fileType) # case 4 draw Envirionment with graph if (drawType == 4): env = Env(mat) graphNameCfg = conFileDir + 'auctionDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] print('row', row) print('col', col) for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addgrid() env.addTest() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addGraph(robNum, graphData, True) env.addRobotStartPnt(robLst) env.drawPic('./png/robGraph', fileType=fileType) # case 5 if (drawType == 5): env = Env(mat) robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) env.addgrid() graphNameCfg = conFileDir + 'auctionDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addGraph(robNum, graphData) graphData = [] for i in range(robNum): graphUnit = [] graphCfg.get('neiRow' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('neiCol' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) print(graphData) env.addNeiGraph(robNum, graphData) env.addTest() env.drawPic('./png/robNei&Graph', fileType=fileType) # case 4 draw Envirionment with graph if (drawType == 6): env = Env(mat) graphNameCfg = conFileDir + 'auctionDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] print('row', row) print('col', col) for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addgrid() env.addTest() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addGraph(robNum, graphData, False) env.addRobotStartPnt(robLst) env.drawPic('./png/robGraph&RC', fileType=fileType) # case 5 draw graph with STC if (drawType == 7): env = Env(mat) robLst = [] robLst.append(robRowLst) robLst.append(robColLst) graphNameCfg = conFileDir + 'auctionSTCDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addSTCGraph(robNum, graphData) graphData = [] # for i in range(robNum): # graphUnit = [] # graphCfg.get('neiRow'+str(i),graphUnit) # graphData.append(copy.deepcopy(graphUnit)) # graphUnit = [] # graphCfg.get('neiCol'+str(i),graphUnit) # graphData.append(copy.deepcopy(graphUnit)) # print(graphData) # env.addNeiGraph(robNum,graphData) env.addTest() env.addRobotStartPnt(robLst) env.addgrid() env.drawPic('./png/robNei&Graph', fileType=fileType) # case 8 draw environment and the GA_pattern path if (drawType == 8): env = Env(mat) env.addgrid() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) pathNameCfg = conFileDir + '_decode_Cfg.txt' pathCfg = Read_Cfg(pathNameCfg) robNum = int(pathCfg.getSingleVal('robNum')) pathData = [] for i in range(robNum): path_x = [] pathCfg.get('path_x' + str(i), path_x) pathData.append(copy.deepcopy(path_x)) path_y = [] pathCfg.get('path_y' + str(i), path_y) pathData.append(copy.deepcopy(path_y)) env.addPath(robNum=robNum, lst=pathData) # graphData.append(copy.deepcopy(graphUnit)) env.drawPic('./png/env_' + cfgFileName + fileName, fileType) # case 9 draw environment and test the python graph function if (drawType == 9): env = Env(mat) edgeNameCfg = conFileDir + '5_20_20_80_Outdoor_Cfg.txt' edgeCfg = Read_Cfg(edgeNameCfg) edgeData = [] edgeUnit = [] edgeCfg.get('sPntx', edgeUnit) print('edgeLength', len(edgeUnit)) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('sPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdgeInPnt(edgeData) env.addTest() env.drawPic('./png/edgesInPntTestGraph', fileType=fileType)
def drawPic(cfgFileName='5_20_20_80_Outdoor_Cfg.txt', drawType=1, fileName='nothing', fileType=False): py.sign_in('tesla_fox', 'HOTRQ3nIOdYUUszDIfgN') conFileDir = './/data//' degNameCfg = conFileDir + cfgFileName readCfg = Read_Cfg(degNameCfg) data = [] readCfg.get('row', data) row = int(data.pop()) readCfg.get('col', data) col = int(data.pop()) mat = zeros((row, col)) obRowLst = [] obColLst = [] readCfg.get('obRow', obRowLst) readCfg.get('obCol', obColLst) for i in range(len(obRowLst)): obRow = int(obRowLst[i]) obCol = int(obColLst[i]) mat[obRow][obCol] = 1 robRowLst = [] robColLst = [] readCfg.get('robRow', robRowLst) readCfg.get('robCol', robColLst) #case 1 draw Environment if (drawType == 1): env = Env(mat) env.addgrid() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) env.drawPic('./png/env_' + cfgFileName, fileType) #case 2 draw Environment with edges if (drawType == 2): env = Env(mat) edgeNameCfg = conFileDir + 'obmapDeg.txt' edgeCfg = Read_Cfg(edgeNameCfg) edgeData = [] edgeUnit = [] edgeCfg.get('sRow', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('sCol', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tRow', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tCol', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdges(edgeData) env.addTest() env.drawPic('./png/edges', fileType=False) #case 3 draw Envirionment with edges in pnt if (drawType == 3): env = Env(mat) # edgeNameCfg = conFileDir +'obmapDeg.txt' edgeNameCfg = conFileDir + 'auctionSTCDeg.txt' edgeCfg = Read_Cfg(edgeNameCfg) edgeData = [] edgeUnit = [] edgeCfg.get('sPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('sPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdgeInPnt(edgeData) env.addTest() env.drawPic('./png/edgesInPnt', fileType=fileType) # case 4 draw Envirionment with graph if (drawType == 4): env = Env(mat) graphNameCfg = conFileDir + 'auctionDeg.txt' graphNameCfg = conFileDir + 'auctionSTCDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] print('row', row) print('col', col) for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addgrid() env.addTest() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addGraph(robNum, graphData, True) env.addRobotStartPnt(robLst) env.drawPic('./png/robGraph', fileType=fileType) # case 5 if (drawType == 5): env = Env(mat) robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) env.addgrid() graphNameCfg = conFileDir + 'auctionDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addGraph(robNum, graphData) graphData = [] for i in range(robNum): graphUnit = [] graphCfg.get('neiRow' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('neiCol' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) print(graphData) env.addNeiGraph(robNum, graphData) env.addTest() env.drawPic('./png/robNei&Graph', fileType=fileType) # case 4 draw Envirionment with graph if (drawType == 6): env = Env(mat) graphNameCfg = conFileDir + 'auctionDeg.txt' graphNameCfg = conFileDir + 'auctionSTCDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] print('row', row) print('col', col) for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addgrid() env.addTest() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addGraph(robNum, graphData, False) env.addRobotStartPnt(robLst) env.drawPic('./png/robGraph&RC', fileType=fileType) # case 5 draw graph with STC if (drawType == 7): env = Env(mat) robLst = [] robLst.append(robRowLst) robLst.append(robColLst) graphNameCfg = conFileDir + 'auctionSTCDeg.txt' graphCfg = Read_Cfg(graphNameCfg) robNum = int(graphCfg.getSingleVal('robNum')) graphData = [] for i in range(robNum): graphUnit = [] graphCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] graphCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addSTCGraph(robNum, graphData) graphData = [] # for i in range(robNum): # graphUnit = [] # graphCfg.get('neiRow'+str(i),graphUnit) # graphData.append(copy.deepcopy(graphUnit)) # graphUnit = [] # graphCfg.get('neiCol'+str(i),graphUnit) # graphData.append(copy.deepcopy(graphUnit)) # print(graphData) # env.addNeiGraph(robNum,graphData) env.addTest() env.addRobotStartPnt(robLst) env.addgrid() env.drawPic('./png/robNei&Graph', fileType=fileType) # case 8 draw environment and the GA_pattern path if (drawType == 8): env = Env(mat) env.addgrid() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) pathNameCfg = conFileDir + '_decode_Cfg.txt' pathCfg = Read_Cfg(pathNameCfg) robNum = int(pathCfg.getSingleVal('robNum')) pathData = [] for i in range(robNum): path_x = [] pathCfg.get('path_x' + str(i), path_x) pathData.append(copy.deepcopy(path_x)) path_y = [] pathCfg.get('path_y' + str(i), path_y) pathData.append(copy.deepcopy(path_y)) env.addPath(robNum=robNum, lst=pathData) # graphData.append(copy.deepcopy(graphUnit)) env.drawPic('./png/env_' + cfgFileName, fileType) # case 9 draw environment and test the python graph function if (drawType == 9): env = Env(mat) edgeNameCfg = conFileDir + '5_20_20_80_Outdoor_Cfg.txt' edgeCfg = Read_Cfg(edgeNameCfg) edgeData = [] edgeUnit = [] edgeCfg.get('sPntx', edgeUnit) print('edgeLength', len(edgeUnit)) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('sPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] edgeCfg.get('tPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdgeInPnt(edgeData) env.addTest() env.drawPic('./png/edgesInPntTestGraph', fileType=fileType) #case 10 draw multi path if (drawType == 10): env = Env(mat) env.addgrid() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) pathNameCfg = conFileDir + 'auctionSTCEstDegend.txt' pathCfg = Read_Cfg(pathNameCfg) robNum = int(pathCfg.getSingleVal('robNum')) graphData = [] print('row', row) print('col', col) for i in range(robNum): graphUnit = [] pathCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] pathCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addGraph(robNum, graphData, False) edgeData = [] edgeUnit = [] pathCfg.get('sPntx', edgeUnit) print('edgeLength', len(edgeUnit)) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('sPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdgeInPnt(edgeData) STCData = [] STCUnit = [] pathCfg.get('STCPntx', STCUnit) STCData.append(copy.deepcopy(STCUnit)) STCUnit = [] pathCfg.get('STCPnty', STCUnit) # print(STCUnit) STCData.append(copy.deepcopy(STCUnit)) # env.addgrid() # env.addSTCVert(STCData) # env.addEdgeInPnt(edgeData) pathData = [] for i in range(robNum): path_x = [] pathCfg.get('path_x' + str(i), path_x) pathData.append(copy.deepcopy(path_x)) path_y = [] pathCfg.get('path_y' + str(i), path_y) pathData.append(copy.deepcopy(path_y)) # env.addPath(robNum = robNum, lst = pathData,txtType = False) # graphData.append(copy.deepcopy(graphUnit)) env.drawPic('./png/env_' + cfgFileName + 'path', fileType) # for the single stc if (drawType == 11): env = Env(mat) env.addgrid() robLst = [] robLst.append(robRowLst) robLst.append(robColLst) pathNameCfg = conFileDir + 'singleSTC.txt' pathCfg = Read_Cfg(pathNameCfg) robNum = int(pathCfg.getSingleVal('robNum')) graphData = [] print('row', row) print('col', col) print(robNum) for i in range(robNum): graphUnit = [] pathCfg.get('row' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) graphUnit = [] pathCfg.get('col' + str(i), graphUnit) graphData.append(copy.deepcopy(graphUnit)) env.addGraph(robNum, graphData, False) terminalPnt = [] pathData = [] for i in range(robNum): path_x = [] pathCfg.get('path_x' + str(i), path_x) pathData.append(copy.deepcopy(path_x)) terminalPnt.append(path_x[len(path_x) - 1]) path_y = [] pathCfg.get('path_y' + str(i), path_y) pathData.append(copy.deepcopy(path_y)) terminalPnt.append(path_y[len(path_y) - 1]) env.addPath(robNum=robNum, lst=pathData, txtType=False) env.addRobotStartPnt(robLst) env.addRobotTerminalPnt(terminalPnt) edgeData = [] edgeUnit = [] pathCfg.get('sPntx', edgeUnit) print('edgeLength', len(edgeUnit)) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('sPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPntx', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPnty', edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) env.addgrid() env.addEdgeInPnt(edgeData) # graphData.append(copy.deepcopy(graphUnit)) env.drawPic('./png/env_' + cfgFileName + 'path', fileType) # print('wtf') #case 10 draw multi path if (drawType == 12): env = Env(mat) env.addgrid() robLst = [] pathNameCfg = conFileDir + 'auctionSTCEstDeg.txt' pathNameCfg = conFileDir + 'CfgDeg2.txt' pathCfg = Read_Cfg(pathNameCfg) robNum = int(pathCfg.getSingleVal('robNum')) pathData = [] for i in range(robNum): path_x = [] pathCfg.get('path_x' + str(i), path_x) pathData.append(copy.deepcopy(path_x)) path_y = [] pathCfg.get('path_y' + str(i), path_y) pathData.append(copy.deepcopy(path_y)) env.addPath(robNum=robNum, lst=pathData, txtType=False) # graphData.append(copy.deepcopy(graphUnit)) robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) env.drawPic('./png/env_' + cfgFileName + 'JustPath', fileType) if (drawType == 13): env = Env(mat) spanningData = [] pathNameCfg = conFileDir + 'auctionSTCEstDeg.txt' pathNameCfg = conFileDir + 'CfgDeg2.txt' pathCfg = Read_Cfg(pathNameCfg) robNum = int(pathCfg.getSingleVal('robNum')) for i in range(robNum): edgeData = [] edgeUnit = [] pathCfg.get('sPntx' + str(i), edgeUnit) print('edgeLength', len(edgeUnit)) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('sPnty' + str(i), edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPntx' + str(i), edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPnty' + str(i), edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) spanningData.append(copy.deepcopy(edgeData)) env.addMultiEdgeInPnt(robNum=robNum, lst=spanningData) env.drawPic('./png/env_' + cfgFileName + 'spanningTree', fileType) if (drawType == 14): env = Env(mat) env.addgrid() robLst = [] print('0-0-', len(cfgFileName)) cfgFileNameStri = cfgFileName.split('.') pathNameCfg = conFileDir + 'GAcomp//' + cfgFileNameStri[ 0] + 'auctionSTCEstDeg.txt' pathCfg = Read_Cfg(pathNameCfg) robNum = int(pathCfg.getSingleVal('robNum')) pathData = [] for i in range(robNum): path_x = [] pathCfg.get('path_x' + str(i), path_x) pathData.append(copy.deepcopy(path_x)) path_y = [] pathCfg.get('path_y' + str(i), path_y) pathData.append(copy.deepcopy(path_y)) env.addPath(robNum=robNum, lst=pathData, txtType=False) # graphData.append(copy.deepcopy(graphUnit)) spanningData = [] for i in range(robNum): edgeData = [] edgeUnit = [] pathCfg.get('sPntx' + str(i), edgeUnit) print('edgeLength', len(edgeUnit)) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('sPnty' + str(i), edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPntx' + str(i), edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) edgeUnit = [] pathCfg.get('tPnty' + str(i), edgeUnit) edgeData.append(copy.deepcopy(edgeUnit)) spanningData.append(copy.deepcopy(edgeData)) env.addMultiEdgeInPnt(robNum=robNum, lst=spanningData) robLst.append(robRowLst) robLst.append(robColLst) env.addRobotStartPnt(robLst) env.drawPic('./png/env_' + cfgFileName + 'JustPath', fileType)
def drawSubPlot(self, name='subplot'): # fig = plotly.tools.make_subplots(rows = 2,cols = 1) # fig.append_trace(trace) figData = [] robotCfg = './/data//' + 'test2_tutorial.txt' robCfg = Read_Cfg(robotCfg) for i in range(5): _set = [] robCfg.get('set' + str(i), _set) setTrace = go.Box(y=_set, name='$ G_' + str(i + 1) + '$') figData.append(setTrace) _set = [] robCfg.get('makespan', _set) for i in range(len(_set)): _set[i] = _set[i] * 4 setTrace = go.Box(y=_set, name='Makespan', xaxis='x2', yaxis='y2') figData.append(setTrace) layout = dict() layout['xaxis'] = dict(domain=[0, 0.8], autorange=True, showgrid=False, zeroline=False, showline=True, autotick=True, ticks='', showticklabels=True) layout['yaxis'] = dict(scaleanchor="x", autorange=True, showgrid=False, zeroline=False, showline=True, autotick=True, ticks='', title='The number of mega vertexes', showticklabels=True) layout['xaxis2'] = dict(domain=[0.9, 1], autorange=True, showgrid=False, zeroline=False, showline=True, autotick=True, ticks='', showticklabels=True) layout['yaxis2'] = dict(scaleanchor="x", autorange=True, showgrid=False, zeroline=False, showline=True, autotick=True, ticks='', title='Time(s)', anchor='x2', showticklabels=True) layout['font'] = dict(family='sans-serif', size=25, color='#000') layout['autosize'] = False layout['height'] = 1000 layout['width'] = 1800 layout['showlegend'] = False fig = go.Figure(data=figData, layout=layout) py.image.save_as(fig, filename=name + '.jpeg')
# print(layout) data = [] data.append(rangeTrace) data.append(markTrace) data.append(startTrace) data.append(terminalTrace) fig = dict(data=data, layout=layout) plotly.offline.plot(fig, filename='multiPlan') # py.image.save_as(fig,filename ='stc_demon.jpeg') Image('./env.png') print('draw success') if __name__ == '__main__': conFileDir = './/data//' degNameCfg = conFileDir + 'map_debug.txt' readCfg = Read_Cfg(degNameCfg) gridStep = 10 lstx = list() lsty = [] grid_x = list() grid_y = list() svd = [] tvd = [] vob = [] readMark = readCfg.get('range_x', lstx) readMark = readCfg.get('range_y', lsty) readMark = readCfg.get('grid_x', grid_x) readMark = readCfg.get('grid_y', grid_y) readCfg.get('obType', vob) readCfg.get('svd', svd)