def visualize_animate(i):
global visualization_UAV, visualization_nodes_text, visualization_path, path_x, path_y
global UAV_energy_efficient_bar
global UAV, nodes, round_num
# visualize the field
visualization_UAV.set_data(UAV['current_x'], UAV['current_y'])
if path_x[-1] != UAV['current_x'] or path_y[-1] != UAV['current_y']:
path_x.append(UAV['current_x'])
path_y.append(UAV['current_y'])
visualization_path.set_data(path_x, path_y)
for node_index in range(len(visualization_nodes_text)):
visualization_nodes_text[node_index].set_text('%d:' % node_index + '(%.2lf)' % nodes[node_index]['power'])
# make it easier to make videos
# if i == 0:
# time.sleep(10)
# visualize the UAV
for rect in UAV_energy_bar:
rect.set_height(UAV['power'])
# visualize the sensor nodes
for bars, node in zip(nodes_energy_bar_list, nodes):
for rect in bars:
rect.set_height(node['power'])
left = param_animation_frame_skip_num + 1
while left > 0 and is_valid_node_network(nodes) and is_valid_UAV(UAV):
nodes_next_second(nodes)
UAV_AI.next_second(UAV, nodes, charge_mode, path_mode, 1.0, params)
round_num += 1
left -= 1
for path_mode in param_path_mode:
# filter invalid combination
if is_valid_combination(charge_mode, path_mode) == False:
continue
UAV_mode = path_mode + '_' + charge_mode
print 'UAV Mode: ' + UAV_mode
UAV = copy.deepcopy(UAV_new)
nodes = copy.deepcopy(nodes_new)
# a hack for combination experiment
# for node in nodes:
# node['capacity'] = 100000000000
params = {}
round_num = 0
while is_valid_node_network(nodes) and is_valid_UAV(UAV) and round_num < param_time_limit:
nodes_next_second(nodes)
UAV_AI.next_second(UAV, nodes, charge_mode, path_mode, task_threshold, params)
round_num += 1
round_num += int(min(node['power'] for node in nodes) / nodes[0]['rate'])
print 'The system is dead at round: ' + str(round_num)
res_file.write(network_type_str + ',' + UAV_mode + ',' + str(round_num) + '\n')
# multi flight
else:
for charge_mode in param_charge_mode:
for path_mode in param_path_mode:
# filter invalid combination
if is_valid_combination(charge_mode, path_mode) == False:
continue
UAV_mode = path_mode + '_' + charge_mode
print 'UAV Mode: ' + UAV_mode
UAV = copy.deepcopy(UAV_new)
nodes = copy.deepcopy(nodes_new)