def __init__(self):
self.datasetfromfile = filereader.readFile("data_set/busy_day.in")
self.gridx = self.datasetfromfile[0]
self.gridy = self.datasetfromfile[1]
self.warehouseObjects = self.datasetfromfile[2]
self.droneCount = self.datasetfromfile[3]
self.maxCommands = self.datasetfromfile[4]
self.maxPayload = self.datasetfromfile[5]
self.orderObjects = self.datasetfromfile[6]
self.productWeights = self.datasetfromfile[7]
# Create the drones
for i in xrange(self.droneCount):
self.drones.append(
drone.drone(self.warehouseObjects[0].location,
self.maxPayload))
# Calculate the nearest wearhouse to each order and vise-versa
type(self.orderObjects)
for order in self.orderObjects:
calculatedDistances = []
for wh in self.warehouseObjects:
calculatedDistances.append(
travelTime(order.location, wh.location))
order.mywarehouse = self.warehouseObjects[
calculatedDistances.index(min(calculatedDistances))]
wh.deliveryPoints.append(order)
# for wh1 in self.warehouseObjects:
# calculatedDistances = []
# for wh2 in self.warehouseObjects:
# calculatedDistances.append(travelTime(order.location,wh.location)
# order.mywarehouse = self.warehouseObjects[calculatedDistances.index(min(calculatedDistances))]
# wh.excessInventory
# wh.wishlist
# for wh1 in self.self.warehouseObjects:
# for wh2 in self.self.warehouseObjects:
self.commandList = list()
for wh1 in self.warehouseObjects:
for wh2 in self.warehouseObjects:
if wh1 == wh2:
continue
for wl in wh1.wishlist:
for el in wh2.excessInventory:
if wl in el:
self.commandList.append(
(wh1, wh2, wh1.wishlist.index(wl)))
wh2.excessInventory.remove(wl)
wh2.allProducts.remove(wl)
wh1.wishlist.remove(wl)
wh1.allProducts.append(wl)
print self.commandList
def __init__(self):
self.datasetfromfile = filereader.readFile("data_set/busy_day.in")
self.gridx = self.datasetfromfile[0]
self.gridy = self.datasetfromfile[1]
self.warehouseObjects = self.datasetfromfile[2]
self.droneCount = self.datasetfromfile[3]
self.maxCommands = self.datasetfromfile[4]
self.maxPayload = self.datasetfromfile[5]
self.orderObjects = self.datasetfromfile[6]
self.productWeights = self.datasetfromfile[7]
# Create the drones
for i in xrange(self.droneCount):
self.drones.append(drone.drone(self.warehouseObjects[0].location, self.maxPayload))
# Calculate the nearest wearhouse to each order and vise-versa
type(self.orderObjects)
for order in self.orderObjects:
calculatedDistances = []
for wh in self.warehouseObjects:
calculatedDistances.append(travelTime(order.location,wh.location))
order.mywarehouse = self.warehouseObjects[calculatedDistances.index(min(calculatedDistances))]
wh.deliveryPoints.append(order)
# for wh1 in self.warehouseObjects:
# calculatedDistances = []
# for wh2 in self.warehouseObjects:
# calculatedDistances.append(travelTime(order.location,wh.location)
# order.mywarehouse = self.warehouseObjects[calculatedDistances.index(min(calculatedDistances))]
# wh.excessInventory
# wh.wishlist
# for wh1 in self.self.warehouseObjects:
# for wh2 in self.self.warehouseObjects:
self.commandList = list()
for wh1 in self.warehouseObjects:
for wh2 in self.warehouseObjects:
if wh1 == wh2:
continue
for wl in wh1.wishlist:
for el in wh2.excessInventory:
if wl in el:
self.commandList.append((wh1,wh2,wh1.wishlist.index(wl)))
wh2.excessInventory.remove(wl)
wh2.allProducts.remove(wl)
wh1.wishlist.remove(wl)
wh1.allProducts.append(wl)
print self.commandList
def set_environment(self, n):
# scatter beacons on the map
self.num_beacon = n
beacon_position = self.set_beacon(self.num_beacon)
beacons = []
beacon_info = []
for i in range(self.num_beacon):
bea = beacon()
position = beacon_position[i, :]
info = tuple((i + 1, position))
beacon_info.append(info)
bea.set_beacon_info(i + 1, position)
beacons.append(bea)
self.beacons = beacons
# true beacon information
self.beacon_info = beacon_info
self.drone = drone()
def connectDrone(self, secondsPerPhoto):
self.lock.acquire()
instanceDrone = drone.drone(self.numVehicle)
instanceDrone.startDrone()
print "Connected to vehicle: %s" % instanceDrone.UdpPort
try:
self.vehicle = connect('127.0.0.1:%s' % instanceDrone.UdpPort, baud=115200, wait_ready=True, heartbeat_timeout=120)
# self.vehicle = connect('/dev/ttyUSB0', baud=57600, wait_ready=True, heartbeat_timeout=120)
self.vehicle.parameters['SYSID_THISMAV'] = self.numVehicle + 1
# Bad TCP connection
except socket.error:
print 'No server exists!'
exit()
# Bad TTY connection
except exceptions.OSError as e:
print 'No serial exists!'
exit()
# API Error
except APIException:
print 'Timeout!'
exit()
# Other error
except:
print 'Some other error!'
exit()
self.lock.release()
self.FPV = FPVSystem.FPVSystem(secondsPerPhoto, self.numVehicle)
t = threading.Thread(target=self.FPV.videoCapture)
t.daemon = True
t.start()
self.takeoff(10)
self.inFlight = True
import numpy as np
from time import sleep
import cv2 as cv
import glob
import calibrate
import os.path
test = False
if test:
import drone
x, y, z, x_vel, y_vel, z_vel, rot, n = 0, 0, 0, 0, 0, 0, 0, 1
dr = drone.drone(x, y, z, x_vel, y_vel, z_vel, rot, n)
print("Drone ID: " + str(dr.id))
print("Drones in range: " + str(dr.dataArr))
print("Drone info: " + str(dr))
#print("Camera: " + str(dr.c.physCamera))
#print("Camera Intrinsic Array: " + str(dr.c.k))
sleep(2)
retake = False
if retake:
for i in range(12):
_f = dr.c.photo()
print(_f)
print(_f.shape)
strformat = "%d.jpg" % i
def __init__(self, _num_adv, _num_agents, _num_drones):
g_var.num_of_adverseries = _num_adv
g_var.num_of_agents = _num_agents
g_var.num_of_drones = _num_drones
# re-initialization of result variables
g_var.arrested_poachers = 0
g_var.fled_poachers = 0
g_var.resource_poached = 0
g_var.resource_recovered = 0
g_var.distance_travelled = 0
self.refresh_counter = 0
#g_var.movement_limit = 100
print "Parameters: adversaries: " + str(g_var.num_of_adverseries),\
", agents: " + str(g_var.num_of_agents),\
", drones: " + str(g_var.num_of_drones)
self.root = Tk()
self.root.title("Green Security Game")
self.root.geometry('640x480+600+0')
self.canvas = Canvas(self.root, bg="#333333", height=480, width=640)
self.canvas.pack()
Frame.__init__(self)
self.agent_pos = [[0 for i in range(g_var.dimension)]
for j in range(g_var.dimension)]
self.adv_pos = [[0 for i in range(g_var.dimension)]
for j in range(g_var.dimension)]
self.drone_pos = [[0 for i in range(g_var.dimension)]
for j in range(g_var.dimension)]
self.drone_signal = [[0 for i in range(g_var.dimension)]
for j in range(g_var.dimension)]
self.target_pos = []
self.round_marking = []
self.object_list = []
self.subarea_y = [[0.0, (1.0 / 3)], [(1.0 / 3), (2.0 / 3)],
[(2.0 / 3), 1.0]]
self.subarea_x = [[0.0, (1.0 / 3)], [(1.0 / 3), (2.0 / 3)],
[(2.0 / 3), 1.0]]
self.subarea_check_agent = [[0 for i in range(3)] for j in range(3)]
self.subarea_check_drone = [[0 for i in range(3)] for j in range(3)]
self.cell_resources = [[4, 9, 6, 7, 0, 2, 1, 6, 7, 0],
[13, 50, 0, 0, 50, 0, 50, 0, 0, 21],
[14, 0, 19, 13, 24, 23, 36, 17, 0, 11],
[17, 50, 40, 10, 50, 50, 50, 6, 0, 6],
[10, 31, 20, 13, 50, 0, 0, 10, 50, 3],
[9, 34, 30, 10, 50, 50, 50, 10, 0, 5],
[11, 37, 10, 22, 17, 15, 12, 10, 0, 6],
[13, 0, 50, 14, 33, 17, 50, 32, 26, 11],
[7, 0, 0, 50, 0, 0, 0, 50, 13, 23],
[11, 12, 31, 10, 9, 8, 11, 13, 14, 21]]
for i in range(g_var.dimension):
for j in range(g_var.dimension):
if self.cell_resources[i][j] > 0:
self.target_pos.append((i, j))
if self.cell_resources[i][j] == -1:
self.round_marking.append((i, j))
self.round_marking.append((5, 5)) # temporary dummy
self.cell_coord = [[
i.__str__() + "," + j.__str__() for i in range(g_var.dimension)
] for j in range(g_var.dimension)]
self.label_poacher_num = Label(self.root,
text="Number of Total \nPoachers:\n" +
str(g_var.num_of_adverseries))
self.label_poacher_num.place(relx=0.78, rely=0.05)
self.label_arrest = Label(self.root, text=g_var.arrested_poachers)
self.label_arrest.place(relx=0.78, rely=0.2)
self.label_fled = Label(self.root, text=g_var.fled_poachers)
self.label_fled.place(relx=0.78, rely=0.3)
self.label_sack = Label(self.root, text=g_var.resource_poached)
self.label_sack.place(relx=0.78, rely=0.4)
self.label_recovered = Label(self.root, text=g_var.resource_poached)
self.label_recovered.place(relx=0.78, rely=0.5)
self.label_travelled = Label(self.root, text=g_var.distance_travelled)
self.label_travelled.place(relx=0.78, rely=0.6)
self.label_agent_num = Label(self.root,
text="Number of Agents:\n" +
str(g_var.num_of_agents))
self.label_agent_num.place(relx=0.78, rely=0.7)
self.label_drone_num = Label(self.root,
text="Number of Drones:\n" +
str(g_var.num_of_drones))
self.label_drone_num.place(relx=0.78, rely=0.8)
self.refresh()
self.canvas.create_rectangle(0,
0,
g_var.dimension * g_var.block_size,
g_var.dimension * g_var.block_size,
fill=g_var.bg_color)
# for ONE TIME labelling *******************************************
for i in range(g_var.dimension):
for j in range(g_var.dimension):
self.coord_label = Label(self.root,
text=self.cell_coord[i][j],
bg="black",
fg="white")
self.coord_label.place(x=i * g_var.block_size + 2,
y=j * g_var.block_size + 18)
for i in range(g_var.dimension + 1):
for j in range(g_var.dimension + 1):
self.canvas.create_rectangle(i * g_var.block_size,
j * g_var.block_size,
g_var.block_size,
g_var.block_size,
outline="grey")
for i in range(g_var.num_of_agents):
sub_y = random.randint(0, 2)
sub_x = random.randint(0, 2)
while self.subarea_check_agent[sub_y][sub_x] >= 1:
sub_y = random.randint(0, 2)
sub_x = random.randint(0, 2)
self.subarea_check_agent[sub_y][sub_x] += 1
agent_obj = agent(self.canvas, self.root, self.agent_pos,
self.cell_resources, self.target_pos,
self.round_marking, self.drone_signal,
self.subarea_y[sub_y], self.subarea_x[sub_x],
self.adv_pos)
#agent_obj.move_spec_guard()
agent_obj.move_agent()
self.object_list.append(agent_obj)
for i in range(g_var.num_of_drones):
sub_y = random.randint(0, 2)
sub_x = random.randint(0, 2)
while self.subarea_check_drone[sub_y][sub_x] >= 1:
sub_y = random.randint(0, 2)
sub_x = random.randint(0, 2)
#sub_y = 1
#sub_x = 1
self.subarea_check_drone[sub_y][sub_x] += 1
drone_obj = drone(self.canvas, self.root, self.drone_pos,
self.drone_signal, self.adv_pos,
self.subarea_y[sub_y], self.subarea_x[sub_x])
drone_obj.move_drone()
self.object_list.append(drone_obj)
for i in range(g_var.num_of_adverseries):
adv_obj = adv(self.canvas, self.root, self.agent_pos,
self.drone_pos, self.cell_resources, self.target_pos,
self.adv_pos)
adv_obj.operate_adv()
self.object_list.append(adv_obj)
self.root.mainloop()
Robot.console.reset_console()
print("READY READY READY READY READY READY READY READY")
Robot.sound.tone([(900, 500, 100)], play_type=1)
# Checks if the user is pressing the right and center buttons
if Robot.button.right == True:
print("RUN 4 RUN 4 RUN 4 RUN 4 RUN 4 RUN 4 RUN 4")
Robot.sound.tone([(500, 350, 50), (500, 350, 50), (500, 350, 50),
(500, 350, 50)],
play_type=1)
for int in range(0, 1400):
if Robot.button.enter == True:
print("RUN 4 RUN 4 RUN 4 RUN 4 RUN 4 RUN 4 RUN 4")
Robot.sleep(0.2)
drone()
Robot.console.reset_console()
print("READY READY READY READY READY READY READY READY")
Robot.sound.tone([(900, 500, 100)], play_type=1)
elif Robot.button.left == True:
print("DRONE PLUS DRONE PLUS")
Robot.sleep(0.2)
drone_plus()
Robot.console.reset_console()
print("READY READY READY READY READY READY READY READY")
Robot.sound.tone([(900, 500, 100)], play_type=1)
# PRE = rE-Econsumed-pathLoss
# if (PRE > pre):
# pre = T
# nH = d
####-inner for-#####
# nH.head = True
cHeads.append(nH)
###-outer for-###
print("New cluster Heads appointed.")
CLOUD = cloud()
# N=int(input("Enter no.of IoT drones:"))
N = 12
invalidTxns = []
dList = [drone(i % 4) for i in range(N)]
zones = {0: [], 1: [], 2: [], 3: []}
cHeads = []
for d in dList:
zones[d.zone].append(d)
for eachZone in zones:
node = random.choice(zones[eachZone])
node.head = True
cHeads.append(node)
network = {'drones': dList, 'heads': cHeads, 'lastBlock': None, 'txns': []}
winsound.Beep(600, 400)
# start=time()
for S in dList:
msg = 'X'
def addDrone(self):
self.drones.append(drone.drone())
setbasecolors()
for _ in range(4):
t = Thread(target=godzilla)
t.start()
time.sleep(10)
setbasecolors()
for _ in range(5):
t = Thread(target=witch)
t.start()
time.sleep(10)
setbasecolors()
name = "spooky_drone"
drone(name)
setbasecolors()
name = "chains"
for _ in range(2):
t = Thread(target=chains, args=(name, ))
t.start()
time.sleep(10)
setbasecolors()
name = "thunder"
for _ in range(5):
t = Thread(target=thunder)
t.start()
time.sleep(12)
setbasecolors()
for _ in range(4):
t = Thread(target=godzilla)
t.start()
time.sleep(10)
setbasecolors()
for _ in range(5):
t = Thread(target=witch)
t.start()
time.sleep(10)
setbasecolors()
name = "spooky_drone"
drone(name)
setbasecolors()
name = "chains"
for _ in range(2):
t = Thread(target=chains, args=(name,))
t.start()
time.sleep(10)
setbasecolors()
name = "thunder"
for _ in range(5):
t = Thread(target=thunder)
t.start()
time.sleep(12)
