Ejemplo n.º 1
0
def get_correction_factor(trial, conf, client):
    rnd.seed(conf['pyseedlist'][trial])
    with tables.openFile('tmp', 'w') as fileh:
        tbl = fileh.createVLArray(
            '/', 'conf', tables.ObjectAtom(),
            title='Configuration used to generate the stored data.')
        tbl.append(conf)
        fileh.createArray(
            '/', 'repeat', [trial], title='Number of repeat run.')

        num_steps = conf['duration_in_steps']
        kernel = instantiate(*conf['kernel'])
        predictor = instantiate(*conf['predictor'], prefix_args=(kernel,))
        if 'bounds' in conf:
            predictor.bounds = conf['bounds']
        if 'priors' in conf:
            for i in range(len(conf['priors'])):
                predictor.priors[i] = instantiate(*conf['priors'][i])

        recorder = TaskPlumeRecorder(fileh, client, predictor, 1)
        err_recorder = ErrorRecorder(fileh, client, predictor, 1)

        target_chooser = behaviors.ChainTargetChoosers([
            behaviors.SurroundArea(conf['area'], conf['margin']),
            behaviors.AcquisitionFnTargetChooser(
                instantiate(*conf['acquisition_fn'], predictor=predictor),
                conf['area'], conf['margin'], conf['grid_resolution'])])
        controller = behaviors.FollowWaypoints(
            target_chooser, conf['target_precision'])
        updater = instantiate(
            *conf['updater'], predictor=predictor, plume_recorder=recorder)
        controller.observers.append(updater)

        behavior = controller.velocity_controller

        if conf['full_record']:
            client = ControlsRecorder(fileh, client, num_steps)
        sim_controller = Controller(client, controller, behavior)
        sim_controller.init_new_sim(conf['seedlist'][trial])

        recorder.init(conf)
        err_recorder.init(conf)
        volume = np.product(np.diff(conf['area'], axis=1))
        print volume
        test_x = err_recorder.test_x.T
        return np.sqrt(len(test_x) / np.sum(
            1.0 / gaussian_kde(test_x)(test_x) ** 2) / volume)
Ejemplo n.º 2
0
def do_simulation_run(trial, output_filename, conf, client):
    rnd.seed(conf['pyseedlist'][trial])
    with tables.openFile(output_filename, 'w') as fileh:
        tbl = fileh.createVLArray(
            '/', 'conf', tables.ObjectAtom(),
            title='Configuration used to generate the stored data.')
        tbl.append(conf)
        fileh.createArray(
            '/', 'repeat', [trial], title='Number of repeat run.')

        num_steps = conf['duration_in_steps']
        kernel = instantiate(*conf['kernel'])
        predictor = instantiate(*conf['predictor'], prefix_args=(kernel,))
        if 'bounds' in conf:
            predictor.bounds = conf['bounds']
        if 'priors' in conf:
            for i in range(len(conf['priors'])):
                predictor.priors[i] = instantiate(*conf['priors'][i])

        recorder = TaskPlumeRecorder(fileh, client, predictor, num_steps)
        err_recorder = ErrorRecorder(fileh, client, predictor, num_steps)

        updater = instantiate(
            *conf['updater'], predictor=predictor, plume_recorder=recorder)

        acq_behavior = behaviors.AcquisitionFnTargetChooser(
            instantiate(*conf['acquisition_fn'], predictor=predictor),
            conf['area'], conf['margin'], conf['grid_resolution'])
        if 'noise_search' in conf:
            if conf['noise_search'] == 'wind':
                tc_factory = behaviors.WindBasedPartialSurroundFactory(
                    client, conf['area'], conf['margin'])
            else:
                tc_factory = behaviors.SurroundAreaFactory(
                    conf['area'], conf['margin'])
            surrounder = behaviors.SurroundUntilFound(updater, tc_factory)
            surrounder.observers.append(recorder)
            target_chooser = behaviors.ChainTargetChoosers(
                [surrounder, acq_behavior])
            maxv = 4
        else:
            target_chooser = behaviors.ChainTargetChoosers([
                behaviors.SurroundArea(conf['area'], conf['margin']),
                acq_behavior])
            maxv = 6
        controller = behaviors.FollowWaypoints(
            target_chooser, conf['target_precision'],
            behaviors.VelocityTowardsWaypointController(
                maxv, maxv, target_chooser.get_effective_area()))
        controller.observers.append(updater)

        behavior = controller.velocity_controller

        if conf['full_record']:
            client = ControlsRecorder(fileh, client, num_steps)
        sim_controller = Controller(client, controller, behavior)
        sim_controller.init_new_sim(conf['seedlist'][trial])

        recorder.init(conf)
        err_recorder.init(conf)
        sim_controller.add_recorder(recorder)
        sim_controller.add_recorder(err_recorder)

        if hasattr(behavior, 'targets') and conf['full_record']:
            targets_recorder = TargetsRecorder(
                fileh, behavior, client.numUAVs, num_steps)
            targets_recorder.init()
            sim_controller.add_recorder(targets_recorder)

        try:
            sim_controller.run(num_steps)
        except Exception as err:
            err_tbl = fileh.createVLArray(
                '/', 'exception', tables.ObjectAtom(),
                title='Exception which was raised.')
            err_tbl.append(err)
            raise
        finally:
            try:
                if conf['full_record']:
                    store_obj(fileh, fileh.createGroup('/', 'gp'), predictor)
                else:
                    recorder.prune()
            except:
                pass