def save_graph(self):
""" Saves a copy of the progress so far """
r = Report(self.id_dds)
outdir = 'out/cover-progress/%s/' % self.id_dds
self.draw_graph(r)
filename = os.path.join(outdir, 'graphs.html')
logger.info('Writing to %r' % filename)
r.to_html(filename)
def job_report(context, subsets, store):
for id_subset, which in subsets.items():
logger.info('%s = %s' % (id_subset, which))
subset = store.select(lambda x: x['id_distance'] in which)
logger.info('selected %s' % len(subset))
substats = context.comp(compute_statistics, subset, job_id='%s-s' % id_subset)
report = context.comp(report_statistics_all, id_subset, substats)
context.add_report(report, 'main', subset=id_subset)
def save_graph(self):
""" Saves a copy of the progress so far """
r = Report(self.id_dds)
outdir = 'out/cover-progress/%s/' % self.id_dds
self.draw_graph(r)
filename = os.path.join(outdir, 'graphs.html')
logger.info('Writing to %r' % filename)
r.to_html(filename, write_pickle=True)
def log_chosen(self, node):
all_visibility = map(self.visibility, self.G.nodes())
logger.info('#%4d closed %4d open %4d [minvis: %.4g] pop %s' %
(self.iterations, len(self.closed), len(self.open_nodes),
np.min(all_visibility), plan_friendly(node)))
if (self.iterations + 1) % self.debug_graph_iterations == 0:
self.save_graph()
def log_chosen(self, node):
all_visibility = map(self.visibility, self.G.nodes())
logger.info('#%4d closed %4d open %4d [minvis: %.4g] pop %s' %
(self.iterations, len(self.closed), len(self.open_nodes),
np.min(all_visibility),
self.node_friendly(node)))
if (self.iterations + 1) % self.debug_graph_iterations == 0:
self.save_graph()
def results2stats_dict(results):
""" Applies all possible statistics to the results (output of run_planning_stats). """
res = {}
for x in Stats.statistics:
try:
res[x] = Stats.statistics[x].function(results)
except:
logger.info('stats error')
res[x] = -1
return res
def job_report(context, subsets, store):
for id_subset, which in subsets.items():
logger.info('%s = %s' % (id_subset, which))
subset = store.select(lambda x: x['id_distance'] in which)
logger.info('selected %s' % len(subset))
substats = context.comp(compute_statistics,
subset,
job_id='%s-s' % id_subset)
report = context.comp(report_statistics_all, id_subset, substats)
context.add_report(report, 'main', subset=id_subset)
def results2stats_dict(results):
""" Applies all possible statistics to the results (output of run_planning_stats). """
res = {}
for x in Stats.statistics:
try:
res[x] = Stats.statistics[x].function(results)
except:
logger.info('stats error')
res[x] = -1
return res
def __init__(self, plan_time, plan_max_length, metric_goal):
logger.info('initiating sampleplanner')
print('pr: initiating sampleplanner')
DiffeoPlanningAlgo.__init__(self)
config = get_dp_config()
self.metric_goal = config.distances.instance(metric_goal)
self.plan_time = plan_time
self.max_length = plan_max_length
logger.info('done')
print('pr: done')
def __init__(self, plan_time, plan_max_length, metric_goal):
logger.info('initiating sampleplanner')
print('pr: initiating sampleplanner')
DiffeoPlanningAlgo.__init__(self)
config = get_dp_config()
self.metric_goal = config.distances.instance(metric_goal)
self.plan_time = plan_time
self.max_length = plan_max_length
logger.info('done')
print('pr: done')
def compute_dist_stats(id_distance, id_stream, delta):
distances_library = get_conftools_uncertain_image_distances()
distance = distances_library.instance(id_distance)
stream = get_conftools_streams().instance(id_stream)
it = stream.read_all()
results = []
for logitem in iterate_testcases(it, delta):
assert_allclose(len(logitem.u), delta)
y0 = UncertainImage(logitem.y0)
y1 = UncertainImage(logitem.y1)
d = distance.distance(y0, y1)
results.append(d)
logger.info('%s: found %d of %d steps in %s' %
(id_distance, len(results), delta, id_stream))
return results
def compute_dist_stats(id_distance, id_stream, delta):
distances_library = get_conftools_uncertain_image_distances()
distance = distances_library.instance(id_distance)
stream = get_conftools_streams().instance(id_stream)
it = stream.read_all()
results = []
for logitem in iterate_testcases(it, delta):
assert_allclose(len(logitem.u), delta)
y0 = UncertainImage(logitem.y0)
y1 = UncertainImage(logitem.y1)
d = distance.distance(y0, y1)
results.append(d)
logger.info('%s: found %d of %d steps in %s' %
(id_distance, len(results), delta, id_stream))
return results
def save(self, outdir):
""" Creates outdir/<id_tc>.pickle and outdir/<>.yaml """
filename_pickle = self.id_tc + '.tc.pickle'
filename_yaml = self.id_tc + '.tc.yaml'
description = {
'id': self.id_tc,
'desc': 'Automatically generated test case',
'code': ['diffeoplan.library.load_pickle',
{'file:pickle': filename_pickle}]
}
filename_pickle = os.path.join(outdir, filename_pickle)
filename_yaml = os.path.join(outdir, filename_yaml)
logger.info('Writing to %r ' % friendly_path(filename_pickle))
safe_pickle_dump(self, filename_pickle)
write_entries([description], filename_yaml)
def _get_flat_structure(self, shape):
if self.fs is None:
def make_size(x):
x = int(np.ceil(x))
if x % 2 == 0:
x += 1
return x
ax = make_size(shape[0] * self.ratios[0])
ay = make_size(shape[1] * self.ratios[1])
area = (ax, ay)
if np.min(area) == 1:
logger.warning('Area is too small. Ratios: %s shape: %s area: %s' %
(self.ratios, shape, area))
logger.info('ratios: %s shape: %s area: %s' % (self.ratios,
shape, area))
self.fs = FlatStructure(shape=tuple(shape), neighborarea=tuple(area))
return self.fs
def from_matrices(labels, commute, inverse, same):
logger.info('Creating PlanReducer from matrices:\n' +
formatm('same', same, 'oppo', inverse, 'swap', commute))
pr = PlanReducer()
for i, j in iterate_indices(commute.shape):
li = labels[i]
lj = labels[j]
if commute[i, j]:
assert commute[j, i]
pr.set_commute(li, lj)
if same[i, j]:
assert same[j, i]
pr.set_same(li, lj)
if inverse[i, j]:
assert inverse[j, i]
pr.set_inverse(li, lj)
return pr
def from_matrices(labels, commute, inverse, same):
logger.info('Creating PlanReducer from matrices:\n' +
formatm('same', same, 'oppo', inverse, 'swap', commute))
pr = PlanReducer()
for i, j in iterate_indices(commute.shape):
li = labels[i]
lj = labels[j]
if commute[i, j]:
assert commute[j, i]
pr.set_commute(li, lj)
if same[i, j]:
assert same[j, i]
pr.set_same(li, lj)
if inverse[i, j]:
assert inverse[j, i]
pr.set_inverse(li, lj)
return pr
def _get_flat_structure(self, shape):
if self.fs is None:
def make_size(x):
x = int(np.ceil(x))
if x % 2 == 0:
x += 1
return x
ax = make_size(shape[0] * self.ratios[0])
ay = make_size(shape[1] * self.ratios[1])
area = (ax, ay)
if np.min(area) == 1:
logger.warning(
'Area is too small. Ratios: %s shape: %s area: %s' %
(self.ratios, shape, area))
logger.info('ratios: %s shape: %s area: %s' %
(self.ratios, shape, area))
self.fs = FlatStructure(shape=tuple(shape),
neighborarea=tuple(area))
return self.fs
def save(self, outdir):
""" Creates outdir/<id_tc>.pickle and outdir/<>.yaml """
filename_pickle = self.id_tc + '.tc.pickle'
filename_yaml = self.id_tc + '.tc.yaml'
description = {
'id':
self.id_tc,
'desc':
'Automatically generated test case',
'code': [
'diffeoplan.library.load_pickle', {
'file:pickle': filename_pickle
}
]
}
filename_pickle = os.path.join(outdir, filename_pickle)
filename_yaml = os.path.join(outdir, filename_yaml)
logger.info('Writing to %r ' % friendly_path(filename_pickle))
safe_pickle_dump(self, filename_pickle)
write_entries([description], filename_yaml)
def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
dn = self.plan_distance(plan1, plan2, diffeoaction_distance_L2_infow) / self.ds.scalew
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
dn = self.plan_distance(
plan1, plan2, diffeoaction_distance_L2_infow) / self.ds.scalew
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
if super(DiffeoCoverExp, self).node_compare(plan1, plan2):
return True
dn = self.plan_distance(plan1, plan2)
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
if super(DiffeoCoverExp, self).node_compare(plan1, plan2):
return True
dn = self.plan_distance(plan1, plan2)
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def plan(self, y0, y1, precision=None, min_visibility=None):
"""
This must return an instance of PlanningResult.
"""
time0 = time.time()
num = len(self.composed_dds.composed_actions)
unevaled = range(num)
evaled = []
min_dist = self.metric_goal.distance(y0, y1)
best_action = None
while (time.time() - time0 < self.plan_time):
if len(unevaled) == 0:
logger.info('Search done after %g evaluations' % len(evaled))
break
i = unevaled[np.random.randint(len(unevaled))]
ypi = self.composed_dds.composed_actions[i].predict(y0)
di = self.metric_goal.distance(ypi, y1)
if min_dist > di:
min_dist = di
best_action = i
unevaled.remove(i)
evaled.append(i)
if best_action is None:
plan = ()
else:
plan = self.composed_dds.plan_reduced[best_action]
logger.info('Plan output: ' + str(plan))
logger.info('predicted distance for plan: ' + str(min_dist))
return PlanningResult(success=True,
plan=plan,
status=(str(len(evaled)) + 'of' + str(num) +
' evaluated'))
def plan(self, y0, y1, precision=None, min_visibility=None):
"""
This must return an instance of PlanningResult.
"""
time0 = time.time()
num = len(self.composed_dds.composed_actions)
unevaled = range(num)
evaled = []
min_dist = self.metric_goal.distance(y0, y1)
best_action = None
while(time.time() - time0 < self.plan_time):
if len(unevaled) == 0:
logger.info('Search done after %g evaluations' % len(evaled))
break
i = unevaled[np.random.randint(len(unevaled))]
ypi = self.composed_dds.composed_actions[i].predict(y0)
di = self.metric_goal.distance(ypi, y1)
if min_dist > di:
min_dist = di
best_action = i
unevaled.remove(i)
evaled.append(i)
if best_action is None:
plan = ()
else:
plan = self.composed_dds.plan_reduced[best_action]
logger.info('Plan output: ' + str(plan))
logger.info('predicted distance for plan: ' + str(min_dist))
return PlanningResult(success=True, plan=plan,
status=(str(len(evaled)) + 'of' + str(num) +
' evaluated'))
def log_child_discarded(self, node, action, child,
matches): # @UnusedVariable
logger.info('Discarding %s because it matches %s' %
(str(child), matches))
def report_statistics_all(id_sub, stats, perc=10, W=0.2):
records = stats['records']
r = Report('statsall-%s' % id_sub)
r.data('records', records)
f = r.figure()
id_distances = sorted(set(records['id_distance']))
logger.info('%s: %s %s reo %s' % (id_sub, len(stats), id_distances,
len(records)))
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
with f.plot('distance_order', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
order = scale_score(distance)
order = order / float(order.size)
step = float(i) / (max(len(id_distances) - 1, 1))
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, order,
colors[i], perc=perc, label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('normalized distance')
pylab.xticks(ticks, ticks)
pylab.yticks((0, 1), (0, 1))
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, 1.2))
legend_put_below(ax)
with f.plot('distance', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax, delta + xstep, distance,
colors[i], perc=perc, label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('distance')
pylab.xticks(ticks, ticks)
# pylab.yticks((0, 1), (0, 1))
a = pylab.axis()
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, a[3]))
legend_put_below(ax)
return r
def log_child_equivalent_found(self, node, action, child,
match): # @UnusedVariable
logger.info('Equiv found: %s = %s' % (child, match))
def log_child_discarded(self, node, action, child, matches): # @UnusedVariable
logger.info('Discarding %s because it matches %s' % (str(child), matches))
def log_child_equivalent_found(self, node, action, child, match): # @UnusedVariable
logger.info('Equiv found: %s = %s' % (child, match))
def run_planning(id_algo, id_tc, testcase, algo):
'''
:param config:
:param id_algo:
:param id_discdds:
:param id_tc:
:param algo: Already init()ed instance of DiffeoPlanningAlgo
'''
# run the planning
y0 = testcase.y0
y1 = testcase.y1
# compute achievable precision using the model
dds = algo.get_dds()
metric = algo.metric_goal
y1p = dds.predict(y0, testcase.true_plan)
d = metric.distance(y1, y1p)
precision = d * 1.01
# compute a bound that we want on the visibility
warnings.warn('Remember to make a parameter of the test case whether we want'
' to preserve a minimum visibility ratio.')
should_preserve = 'dcl' in id_tc
if should_preserve:
action = dds.plan2action(testcase.true_plan)
min_visibility = action.get_diffeo2d_forward().get_visibility() / 1.01
else:
min_visibility = 0
logger.info('Using model and algo metric, the reachable distance is %s. '
'Treshold: %s' % (d, precision))
# TODO: add computation time
t0 = time.clock()
# Run the planning
# try:
planning_result = algo.plan(y0, y1, precision=precision,
min_visibility=min_visibility)
# except:
# try:
# logger.info(algo.start_tree.memoize_cache.summary())
# logger.info(algo.goal_tree.memoize_cache.summary())
# logger.info(algo.connector.memoize_cache.summary())
# except:
# pass
# raise
if hasattr(algo, 'start_tree'):
cache_stats = {
'start_tree': algo.start_tree.get_cache_stats(),
'goal_tree': algo.goal_tree.get_cache_stats(),
'connector': algo.connector.get_cache_stats(),
}
algo.start_tree.clear_cache()
algo.goal_tree.clear_cache()
algo.connector.clear_cache()
else:
cache_stats = {}
plan_time = time.clock() - t0
results = {}
results['id_tc'] = id_tc
results['tc'] = testcase
results['id_discdds'] = testcase.id_discdds
results['id_algo'] = id_algo
results['algo'] = algo
results['result'] = planning_result
results['plan_time'] = plan_time
results['cache_stats'] = cache_stats
return results
def report_statistics_all(id_sub, stats, perc=10, W=0.2):
records = stats['records']
r = Report('statsall-%s' % id_sub)
r.data('records', records)
f = r.figure()
id_distances = sorted(set(records['id_distance']))
logger.info('%s: %s %s reo %s' %
(id_sub, len(stats), id_distances, len(records)))
colors = list(islice(cycle(['r', 'g', 'b', 'k', 'y', 'm']), 50))
with f.plot('distance_order', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
order = scale_score(distance)
order = order / float(order.size)
step = float(i) / (max(len(id_distances) - 1, 1))
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
order,
colors[i],
perc=perc,
label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('normalized distance')
pylab.xticks(ticks, ticks)
pylab.yticks((0, 1), (0, 1))
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, 1.2))
legend_put_below(ax)
with f.plot('distance', **dp_predstats_fig) as pylab:
ax = pylab.subplot(111)
for i, id_d in enumerate(id_distances):
which = records['id_distance'] == id_d
delta = records[which]['delta']
distance = records[which]['distance']
step = float(i) / max(len(id_distances) - 1, 1)
xstep = W * 2 * (step - 0.5)
fancy_error_display(ax,
delta + xstep,
distance,
colors[i],
perc=perc,
label=id_d)
ieee_spines(pylab)
ticks = sorted(list(set(list(delta))))
pylab.xlabel('plan length')
pylab.ylabel('distance')
pylab.xticks(ticks, ticks)
# pylab.yticks((0, 1), (0, 1))
a = pylab.axis()
pylab.axis((0.5, 0.5 + np.max(delta), -0.024, a[3]))
legend_put_below(ax)
return r