def burn(area_bounds, ignition_point, wind):
"""Burn some area from an ignition point with given wind conditions"""
env = propagation.Environment(area_bounds,
wind_speed=wind[0],
wind_dir=wind[1])
f_propagation = propagation.propagate_from_points(
env, (ignition_point[0], ignition_point[1], 0), until=120 * 60)
return f_propagation.ignitions()
def test_vns(self):
def pr(cpp_raster, blocking=False): # plots a cpp raster
return GeoData.from_cpp_raster(cpp_raster,
"xx").plot(blocking=blocking)
from fire_rs.firemodel import propagation
env = propagation.Environment(
[[480060.0, 485060.0], [6210074.0, 6214074.0]],
wind_speed=4.11,
wind_dir=0)
prop = propagation.propagate_from_points(env,
TimedPoint(
482060, 6211074, 0),
until=14000)
ignitions = prop.ignitions()
# ax = ignitions.plot(blocking=False)
elev = env.raster.slice('elevation')
conf = {
'min_time': 9500,
'max_time': 12000,
'save_every': 0,
'save_improvements': False,
'discrete_elevation_interval': 1,
'vns': fire_rs.planning.benchmark.vns_configurations['base']
}
conf['vns']['configuration_name'] = 'base'
wp = up.Waypoint(480060.0 + 100, 6210074.0 + 100, 0, 0)
flight = up.TrajectoryConfig(uav, wp, wp, conf['min_time'], 1500)
res = up.plan_vns([
flight,
], ignitions.as_cpp_raster(), elev.as_cpp_raster(), json.dumps(conf))
plan = res.final_plan()
geodatadisplay = GeoDataDisplay.pyplot_figure(
env.raster.combine(ignitions))
geodatadisplay.add_extension(TrajectoryDisplayExtension, (None, ), {})
plot_plan(plan, geodatadisplay, show=True)
for intermediate_plan in res.intermediate_plans:
geodatadisplay = GeoDataDisplay.pyplot_figure(
env.raster.combine(ignitions))
geodatadisplay.add_extension(TrajectoryDisplayExtension, (None, ),
{})
plot_plan(intermediate_plan, geodatadisplay, show=True)
print("durations: ")
for traj in plan.trajectories():
print(traj.duration())
def wp_insertion() -> "fire_rs.geodata.display.GeoDataDisplay":
"""Plot a case with an small fire. Overlay arrows indicating fire propagation direction"""
# Geographic environment (elevation, landcover, wind...)
wind = (2., 0.)
area = ((480000.0, 480200.0), (6210000.0, 6210200.0))
env = PlanningEnvironment(area,
wind_speed=wind[0],
wind_dir=wind[1],
planning_elevation_mode='flat',
flat_altitude=0)
ignition_points = [
TimedPoint(area[0][0], area[1][0], 0),
]
logging.info("Start of propagation")
fire = propagation.propagate_from_points(env, ignition_points, 180 * 60)
logging.info("End of propagation")
fire1 = fire.ignitions()
gdd = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
env.raster.combine(fire1), )
gdd.add_extension(TrajectoryDisplayExtension, (None, ), {})
# print(env.raster.x_offset)
# gdd.axis.set_xticks(np.arange(area[0][0]-25, area[0][1], 22.22))
# gdd.axis.set_yticks(np.arange(area[1][0]-25, area[1][1], 22.22))
# gdd.axis.grid(True)
gdd.axes.tick_params(
axis='both', # changes apply to the x-axis
which='both', # both major and minor ticks are affected
bottom='off', # ticks along the bottom edge are off
left='off', # ticks along the bottom edge are off
top='off', # ticks along the top edge are off
labelleft='off', # ticks along the bottom edge are off
labelbottom='off') # labels along the bottom edge are off
gdd.axes.set_xlabel("")
gdd.axes.set_ylabel("")
t_range_fire = (0, np.inf)
gdd.draw_ignition_contour(geodata=fire1,
time_range=t_range_fire,
cmap=matplotlib.cm.plasma)
gdd.draw_ignition_shade(with_colorbar=False,
geodata=fire1,
vmin=0,
vmax=120 * 60,
cmap=matplotlib.cm.Reds)
gdd.legend()
return gdd
from fire_rs.firemodel import propagation
from fire_rs.geodata.geo_data import TimedPoint, GeoData
from fire_rs.planning.planning import FireMapper, FlightConf, Planner, PlanningEnvironment, \
UAVConf, Waypoint
from fire_rs.planning.display import TrajectoryDisplayExtension, plot_plan_trajectories
# Geographic environment (elevation, landcover, wind...)
wind = (10., 0.)
area = ((480000.0, 485000.0), (6210000.0, 6215000.0))
env = PlanningEnvironment(area, wind_speed=wind[0], wind_dir=wind[1],
planning_elevation_mode='flat', flat_altitude=0)
# Fire applied to the previous environment
ignition_point = TimedPoint(area[0][0] + 1000.0, area[1][0] + 2000.0, 0)
logging.info("Start of propagation")
fire = propagation.propagate_from_points(env, ignition_point, 240 * 60)
logging.info("End of propagation")
# Configure some flight
base_wp = Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.)
start_t = 120 * 60 # 30 minutes after the ignition
uavconf = UAVConf.slow_x8()
fgconf = FlightConf(uavconf, start_t, base_wp)
# Write down the desired VNS configuration
conf_vns = {
"full": {
"max_restarts": 5,
"max_time": 15.0,
"neighborhoods": [
{"name": "dubins-opt",
def threefire_twouav_figure(
wind_speed=5.,
wind_dir=np.pi / 2) -> "fire_rs.geodata.display.GeoDataDisplay":
"""Plot a generic case with wind, multiple UAV from multiple bases, and multiple fire."""
# Geographic environment (elevation, landcover, wind...)
wind = (wind_speed, wind_dir)
area = ((480000.0, 485000.0), (6210000.0, 6215000.0))
env = PlanningEnvironment(area,
wind_speed=wind[0],
wind_dir=wind[1],
planning_elevation_mode='flat',
flat_altitude=0)
# Fire applied to the previous environment
ignition_points = [
TimedPoint(area[0][0] + 1000.0, area[1][0] + 1000.0, 0.),
TimedPoint(area[0][0] + 4000.0, area[1][0] + 2000.0, 0.),
TimedPoint(area[0][0] + 2000.0, area[1][0] + 3500.0, 0.)
]
logging.info("Start of propagation")
fire = propagation.propagate_from_points(env, ignition_points, 120 * 60)
logging.info("End of propagation")
# Configure some flight
start_t = 90 * 60
uav = UAVConf.x8()
uav.max_flight_time /= 3
f_confs = [
FlightConf(uav, start_t,
Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.),
None, wind),
FlightConf(uav, start_t,
Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.),
None, wind),
]
conf = SAOP_conf(start_t, start_t + uav.max_flight_time)
fire1 = fire.ignitions()
pl = Planner(env, fire1, f_confs, conf)
pl.compute_plan()
sr_1 = pl.search_result
fmapper = FireMapper(env, fire1)
gdd = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
env.raster.combine(fire1), frame=(0, 0))
gdd.add_extension(TrajectoryDisplayExtension, (None, ), {})
# Draw expected fire contour
t_range = (sr_1.final_plan().trajectories()[0].start_time(0),
sr_1.final_plan().trajectories()[0].end_time(
len(sr_1.final_plan().trajectories()[0]) - 1))
t_range_fire = (0, np.inf)
gdd.draw_ignition_contour(geodata=fire1,
time_range=t_range_fire,
cmap=matplotlib.cm.Reds,
alpha=1)
# Draw observed fire
for i in range(len(f_confs)):
executed_path = sr_1.final_plan().trajectories()[i].sampled_with_time(
step_size=10)
fmapper.observe(executed_path, pl.flights[i].uav)
gdd.draw_ignition_shade(geodata=fmapper.firemap,
cmap=matplotlib.cm.summer,
vmin=t_range[0],
vmax=t_range[1],
with_colorbar=False)
# Draw trajectory
colors = ['blue', 'darkgreen', 'magenta']
labels = ["UAV " + str(i) for i in range(len(f_confs))]
for i in range(len(f_confs)):
plot_plan_trajectories(sr_1.final_plan(),
gdd,
trajectories=i,
draw_path=True,
draw_flighttime_path=False,
colors=[colors[i]],
labels=[labels[i]],
linestyles=['-'])
gdd.legend()
return gdd
def detail_case_figure(
wind_speed=5.,
wind_dir=0.) -> "fire_rs.geodata.display.GeoDataDisplay":
"""Plot a case with an small fire
we can make a zoom and observe a dubinswind path and observed cells."""
# Geographic environment (elevation, landcover, wind...)
wind = (wind_speed, wind_dir)
wind_xy = (wind[0] * np.cos(wind[1]), wind[0] * np.sin(wind[1]))
area = ((480000.0, 485000.0), (6210000.0, 6215000.0))
env = PlanningEnvironment(area,
wind_speed=10,
wind_dir=wind[1],
planning_elevation_mode='flat',
flat_altitude=0)
# Fire applied to the previous environment
ignition_points = [
TimedPoint(area[0][0] + 2000.0, area[1][0] + 2000.0, 0),
]
logging.info("Start of propagation")
fire = propagation.propagate_from_points(env, ignition_points, 180 * 60)
logging.info("End of propagation")
# Configure some flight
base_wp = Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.)
start_t = 120 * 60
uav = UAVConf.x8()
f_confs = [
FlightConf(uav, start_t,
Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.),
None, wind_xy),
]
conf = SAOP_conf(start_t, start_t + uav.max_flight_time)
fire1 = fire.ignitions()
pl = Planner(env, fire1, f_confs, conf)
pl.compute_plan()
sr_1 = pl.search_result
fmapper = FireMapper(env, fire1)
gdd = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
env.raster.combine(fire1), frame=(0, 0))
gdd.add_extension(TrajectoryDisplayExtension, (None, ), {})
gdd.axes.grid(True)
# Draw expected fire contour
t_range = (sr_1.final_plan().trajectories()[0].start_time(0) - 120,
sr_1.final_plan().trajectories()[0].end_time(
len(sr_1.final_plan().trajectories()[0]) - 1) + 120)
t_range_fire = (0, np.inf)
gdd.draw_ignition_contour(geodata=fire1,
time_range=t_range_fire,
cmap=matplotlib.cm.Reds)
# Draw observed fire
executed_path_1 = sr_1.final_plan().trajectories()[0].sampled_with_time(
step_size=10)
fmapper.observe(executed_path_1, pl.flights[0].uav)
gdd.TrajectoryDisplayExtension.draw_observation_map(
obs_map=fmapper.observed, layer='ignition', color='gray')
gdd.TrajectoryDisplayExtension.draw_observation_map(
obs_map=fmapper.firemap, layer='ignition', color='green')
# Draw trajectory
colors = ['blue', 'green', 'magenta']
labels = ["UAV " + str(i) for i in range(len(f_confs))]
for i in range(len(f_confs)):
plot_plan_trajectories(sr_1.final_plan(),
gdd,
trajectories=i,
draw_path=True,
draw_segments=False,
draw_flighttime_path=False,
colors=[colors[i]],
labels=None)
gdd.legend()
return gdd
def test_propagate_full(self):
env = propagation.Environment(self.test_area,
wind_speed=4.11,
wind_dir=0)
prop = propagation.propagate_from_points(env, [self.ignition_point])
from fire_rs.firemodel import propagation
from fire_rs.geodata.display import GeoDataDisplay
from fire_rs.geodata.geo_data import TimedPoint
if __name__ == "__main__":
output_format = "svg"
# Uncomment below to use latex for typesetting
# matplotlib.rcParams['font.family'] = 'sans-serif'
# matplotlib.rcParams['text.usetex'] = True
# output_format="pdf"
area = ((480000.0, 485000.0), (6210000.0, 6215000.0))
env = propagation.Environment(area, wind_speed=5., wind_dir=0.)
ignition_point = TimedPoint(area[0][0] + 1000.0, area[1][0] + 2000.0, 0)
fire = propagation.propagate_from_points(env, ignition_point, 90000)
# Figure terrain + ignition contour + ignition point
gdd = GeoDataDisplay.pyplot_figure(env.raster.combine(fire.ignitions().slice(["ignition"])),
frame=(0., 0.))
# gdd.draw_elevation_shade(with_colorbar=False, cmap=matplotlib.cm.terrain)
# gdd.draw_wind_quiver()
gdd.draw_ignition_shade(cmap=matplotlib.cm.Reds)
gdd.draw_ignition_contour(with_labels=True,cmap=matplotlib.cm.plasma)
gdd.draw_ignition_points(ignition_point)
gdd.figure.show()
gdd.figure.savefig(".".join(("demo_propagation", output_format)), dpi=150, bbox_inches='tight')
from fire_rs.geodata.geo_data import TimedPoint, GeoData
if __name__ == "__main__":
output_format = "svg"
# Uncomment below to use latex for typesetting
# matplotlib.rcParams['font.family'] = 'sans-serif'
# matplotlib.rcParams['text.usetex'] = True
# output_format="pdf"
area = ((481000.0, 484000.0), (6211000.0, 6213500.0))
expected_env = propagation.Environment(area, wind_speed=5., wind_dir=0.)
now = datetime.datetime.now().timestamp()
ignition_point = TimedPoint(area[0][0] + 1000.0, area[1][0] + 1000.0, now)
expected_fire = propagation.propagate_from_points(
expected_env, ignition_point, now + datetime.timedelta(hours=2).total_seconds())
env = propagation.Environment(area, wind_speed=6., wind_dir=0.)
fire = propagation.propagate_from_points(
env, ignition_point, now + datetime.timedelta(hours=2).total_seconds())
# Create fire perimeter geodata
fire_perimeter = GeoData.full_like(fire.prop_data.slice("ignition"), np.nan)
# Create contour with scikit-image
contours = skimage.measure.find_contours(fire.prop_data.data["ignition"],
now + datetime.timedelta(hours=1).total_seconds())
# Draw contour in the geodata
for contour in contours:
for pt_i in range(len(contour)):
if pt_i < len(contour) / 3:
continue
ignition_point = TimedPoint(area[0][0] + 2500.0, area[1][0] + 2100.0, 0)
terrain_figure = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
env.raster, frame=(0, 0))
terrain_figure.draw_elevation_shade()
terrain_figure.draw_ignition_points(ignition_point)
terrain_figure.figure.show()
wind_figure = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
env.raster, frame=(0, 0))
wind_figure.draw_wind_quiver()
wind_figure.draw_ignition_points(ignition_point)
wind_figure.figure.show()
logging.info("Start of propagation")
fire = propagation.propagate_from_points(env, ignition_point,
120 * 60) # 60 minutes
logging.info("End of propagation")
fire_figure = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
fire.prop_data, frame=(0, 0))
fire_figure.draw_ignition_contour(with_labels=True)
fire_figure.draw_ignition_points(ignition_point, zorder=100000)
fire_figure.figure.show()
print()
# ANIMATION OF FIRE
import matplotlib.animation as animation
anim_fire_figure = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
fire.prop_data, frame=(0, 0))
def give_me_a_plan():
import numpy as np
import fire_rs.uav_planning as op
from fire_rs.firemodel import propagation
from fire_rs.geodata.geo_data import TimedPoint, GeoData
from fire_rs.planning.planning import FireMapper, FlightConf, Planner, PlanningEnvironment, \
UAVConf, Waypoint
from fire_rs.planning.display import TrajectoryDisplayExtension, plot_plan_trajectories
# Geographic environment (elevation, landcover, wind...)
wind = (10., np.pi / 4) # 10m/s = 36km/h
area = ((478500.0, 483500.0), (6210000.0, 6215000.0))
env = PlanningEnvironment(area,
wind_speed=wind[0],
wind_dir=wind[1],
planning_elevation_mode='flat',
flat_altitude=0)
# Fire applied to the previous environment
ignition_point = TimedPoint(area[0][0] + 2500.0, area[1][0] + 2100.0,
0)
fire = propagation.propagate_from_points(env, ignition_point,
120 * 60) # 60 minutes
# Configure some flight
base_wp_1 = Waypoint(area[0][1] - 150., area[1][1] - 100., 0., 0.)
start_t = 60 * 60 # 30 minutes after the ignition
uavconf = UAVConf.x8()
uavconf.max_flight_time = 30 * 60
fgconf_1 = FlightConf(uavconf, start_t, base_wp_1)
# Write down the desired VNS configuration
conf_vns = {
"full": {
"max_restarts":
5,
"max_time":
10.0,
"neighborhoods": [
{
"name":
"dubins-opt",
"max_trials":
100,
"generators": [{
"name": "MeanOrientationChangeGenerator"
}, {
"name":
"RandomOrientationChangeGenerator"
}, {
"name": "FlipOrientationChangeGenerator"
}]
},
{
"name": "one-insert",
"max_trials": 100,
"select_arbitrary_trajectory": True,
"select_arbitrary_position": False
},
]
}
}
conf = {
'min_time': fgconf_1.start_time,
'max_time': fgconf_1.start_time + fgconf_1.uav.max_flight_time,
'save_every': 1,
'save_improvements': True,
'discrete_elevation_interval': 0,
'vns': conf_vns['full']
}
conf['vns']['configuration_name'] = 'full'
####################################
# 1st PLAN
fire1 = fire.ignitions()
pl = Planner(env, fire1, [fgconf_1], conf)
pl.compute_plan()
return pl.search_result.final_plan()
def draw_scenario(i, scen, a):
# Fetch scenario environment data with additional elevation mode for planning
env = propagation.Environment(
scen.area,
wind_speed=scen.wind_speed,
wind_dir=scen.wind_direction,
world=fire_rs.geodata.environment.World(
landcover_to_fuel_remap=fire_rs.geodata.environment.
EVERYTHING_FUELMODEL_REMAP))
# Propagate fires in the environment
propagation_end_time = scen.time_window_end + 60 * 10
_logger.debug("Propagating fire ignitions %s until %s",
str(scen.ignitions), str(propagation_end_time))
prop = propagation.propagate_from_points(env,
scen.ignitions,
until=propagation_end_time)
ignitions = prop.ignitions()
# Transform altitude of UAV bases from agl (above ground level) to absolute
for f in scen.flights:
base_h = 0. # If flat, start at the default segment insertion h
f.base_waypoint = Waypoint(f.base_waypoint.x, f.base_waypoint.y,
base_h, f.base_waypoint.dir)
# Define the flight window
flight_window = TimeWindow(scen.time_window_start,
scen.time_window_end)
# Create utility map
utility = make_utility_map(ignitions,
flight_window,
layer='ignition',
output_layer='utility')
utility_cpp = utility.as_cpp_raster('utility')
# Make a FireData object
fire_data = make_fire_data(ignitions,
env.raster,
elevation_map_layer='elevation')
# Create an initial plan
initial_plan = Plan(str(i), [f.as_cpp() for f in scen.flights],
fire_data, flight_window, utility_cpp)
final_plan = initial_plan
# Propagation was running more time than desired in order to reduce edge effect.
# Now we need to filter out-of-range ignition times. Crop range is rounded up to the next
# 10-minute mark (minus 1). This makes color bar ranges and fire front contour plots nicer
ignitions['ignition'][ignitions['ignition'] > \
int(scen.time_window_end / 60. + 5) * 60. - 60] = _DBL_MAX
# Representation of unburned cells using max double is not suitable for display,
# so those values must be converted to NaN
ignitions_nan = ignitions['ignition'].copy()
ignitions_nan[ignitions_nan == _DBL_MAX] = np.nan
first_ignition = np.nanmin(ignitions_nan)
last_ignition = np.nanmax(ignitions_nan)
# Create the geodatadisplay object & extensions that are going to be used
geodatadisplay = GeoDataDisplay.pyplot_figure(
env.raster.combine(ignitions), frame=(0, 0))
geodatadisplay.add_extension(TrajectoryDisplayExtension, (None, ), {})
plot_plan_with_background(final_plan, geodatadisplay,
(first_ignition, last_ignition), {
'colorbar': a.colorbar,
'background': a.background,
'foreground': []
})
# Save the picture
filepath = os.path.join(a.output, str(i) + "." + a.format)
_logger.info("Saving as figure as: %s", str(filepath))
geodatadisplay.axes.get_figure().set_size_inches(a.size)
geodatadisplay.axes.get_figure().savefig(filepath,
dpi=a.dpi,
bbox_inches='tight')
geodatadisplay.close()
def run_benchmark(scenario: Scenario, save_directory: str, instance_name: str,
output_options_plot: ty.Mapping[str, ty.Any],
output_options_planning: ty.Mapping[str,
ty.Any], snapshots: bool,
vns_name: str, output_options_data: ty.Mapping[str, ty.Any]):
_logger.info("Starting benchmark instance %s", instance_name)
# Fetch scenario environment data with additional elevation mode for planning
env = PlanningEnvironment(
scenario.area,
wind_speed=scenario.wind_speed,
wind_dir=scenario.wind_direction,
planning_elevation_mode=output_options_planning['elevation_mode'],
discrete_elevation_interval=DISCRETE_ELEVATION_INTERVAL,
world=fire_rs.geodata.environment.World(
landcover_to_fuel_remap=fire_rs.geodata.environment.
EVERYTHING_FUELMODEL_REMAP))
# Propagate fires in the environment
propagation_end_time = scenario.time_window_end + 60 * 10
_logger.debug("Propagating fire ignitions %s until %s",
str(scenario.ignitions), str(propagation_end_time))
prop = propagation.propagate_from_points(env,
scenario.ignitions,
until=propagation_end_time)
ignitions = prop.ignitions()
# Transform altitude of UAV bases from agl (above ground level) to absolute
for f in scenario.flights:
base_h = 0. # If flat, start at the default segment insertion h
if output_options_planning['elevation_mode'] != 'flat':
base_h = base_h + env.raster["elevation"][env.raster.array_index(
(f.base_waypoint.x, f.base_waypoint.y))]
# The new WP is (old_x, old_y, old_z + elevation[old_x, old_y], old_dir)
f.base_waypoint = Waypoint(f.base_waypoint.x, f.base_waypoint.y,
base_h, f.base_waypoint.dir)
conf = {
'min_time': scenario.time_window_start,
'max_time': scenario.time_window_end,
'save_every': 0,
'save_improvements': snapshots,
'vns': vns_configurations[vns_name]
}
conf['vns']['configuration_name'] = vns_name
# Define the flight window
flight_window = TimeWindow(scenario.time_window_start,
scenario.time_window_end)
# Create utility map
utility = make_utility_map(ignitions,
flight_window,
layer='ignition',
output_layer='utility')
utility_cpp = utility.as_cpp_raster('utility')
# Make a FireData object
fire_data = make_fire_data(ignitions,
env.raster,
elevation_map_layer='elevation_planning')
# Create an initial plan
initial_plan = Plan(instance_name, [f.as_cpp() for f in scenario.flights],
fire_data, flight_window, utility_cpp)
# Set up a Planner object from the initial Plan
pl = Planner(initial_plan, vns_configurations[vns_name])
pl.save_improvements = snapshots
pl.save_every = 0
search_result = pl.compute_plan()
final_plan = search_result.final_plan()
# Propagation was running more time than desired in order to reduce edge effect.
# Now we need to filter out-of-range ignition times. Crop range is rounded up to the next
# 10-minute mark (minus 1). This makes color bar ranges and fire front contour plots nicer
ignitions['ignition'][ignitions['ignition'] > \
int(scenario.time_window_end / 60. + 5) * 60. - 60] = _DBL_MAX
# Representation of unburned cells using max double is not suitable for display,
# so those values must be converted to NaN
ignitions_nan = ignitions['ignition'].copy()
ignitions_nan[ignitions_nan == _DBL_MAX] = np.nan
first_ignition = np.nanmin(ignitions_nan)
last_ignition = np.nanmax(ignitions_nan)
# Create the geodatadisplay object & extensions that are going to be used
geodatadisplay = GeoDataDisplay.pyplot_figure(
env.raster.combine(ignitions), frame=(0, 0))
geodatadisplay.add_extension(TrajectoryDisplayExtension, (None, ), {})
plot_plan_with_background(final_plan, geodatadisplay,
(first_ignition, last_ignition),
output_options_plot)
# Save the picture
filepath = os.path.join(
save_directory,
instance_name + "." + str(output_options_plot.get('format', 'png')))
_logger.info("Saving as figure as: %s", str(filepath))
geodatadisplay.axes.get_figure().set_size_inches(
*output_options_plot.get('size', (15, 10)))
geodatadisplay.axes.get_figure().savefig(filepath,
dpi=output_options_plot.get(
'dpi', 150),
bbox_inches='tight')
# Save rasters
if output_options_data['save_rasters']:
raster_data_dir = os.path.join(save_directory, instance_name + "_data")
if not os.path.exists(raster_data_dir):
os.makedirs(raster_data_dir)
env.raster.write_to_file(
os.path.join(
raster_data_dir, ".".join(("_".join(
(instance_name, "elevation_planning")), 'tif'))),
'elevation_planning')
env.raster.write_to_file(
os.path.join(
raster_data_dir, ".".join(("_".join(
(instance_name, "wind_velocity")), 'tif'))),
'wind_velocity')
env.raster.write_to_file(
os.path.join(
raster_data_dir, ".".join(("_".join(
(instance_name, "wind_angle")), 'tif'))), 'wind_angle')
prop.ignitions().write_to_file(os.path.join(
raster_data_dir, ".".join(("_".join(
(instance_name, "ignition")), 'tif'))),
'ignition',
nodata=np.inf)
u_initial_map = GeoData.from_cpp_raster(initial_plan.utility_map(),
"utility",
projection=utility.projection)
u_initial_map.write_to_file(
os.path.join(
raster_data_dir, ".".join(("_".join(
(instance_name, "utility_initial")), 'tif'))), 'utility')
u_final_map = GeoData.from_cpp_raster(final_plan.utility_map(),
"utility",
projection=utility.projection)
u_final_map.write_to_file(
os.path.join(
raster_data_dir, ".".join(("_".join(
(instance_name, "utility_final")), 'tif'))), 'utility')
# print([o.as_tuple() for o in final_plan.observations()])
# Log planned trajectories metadata
for i, t in enumerate(final_plan.trajectories()):
_logger.debug("traj #{} duration: {} / {}".format(
i, t.duration(), t.conf.max_flight_time))
# save metadata to file
with open(os.path.join(save_directory, instance_name + ".json"),
"w") as metadata_file:
import json
parsed = json.loads(search_result.metadata())
parsed["benchmark_id"] = instance_name
parsed["date"] = datetime.datetime.now().isoformat()
metadata_file.write(json.dumps(parsed, indent=4))
matplotlib.pyplot.close(geodatadisplay.axes.get_figure())
# If intermediate plans are available, save them
for i, plan in enumerate(search_result.intermediate_plans):
geodatadisplay = GeoDataDisplay.pyplot_figure(
env.raster.combine(ignitions))
geodatadisplay.add_extension(TrajectoryDisplayExtension, (None, ), {})
plot_plan_with_background(plan, geodatadisplay,
(first_ignition, last_ignition),
output_options_plot)
i_plan_dir = os.path.join(save_directory, instance_name)
if not os.path.exists(i_plan_dir):
os.makedirs(i_plan_dir)
filepath = os.path.join(
i_plan_dir,
str(i) + "." + str(output_options_plot.get('format', 'png')))
_logger.info("Saving intermediate plan as: %s", str(filepath))
geodatadisplay.axes.get_figure().set_size_inches(
*output_options_plot.get('size', (15, 10)))
geodatadisplay.axes.get_figure().savefig(filepath,
dpi=output_options_plot.get(
'dpi', 150),
bbox_inches='tight')
matplotlib.pyplot.close(geodatadisplay.axes.get_figure())
del search_result
conf['vns']['configuration_name'] = 'demo'
return conf
# Prepare initial run
# - VNS params: some_vns_conf
# - elevation: pl_env
# - wind: pl_env
# - Trajectory config: flight_confs_cpp
# - Firemap: ignitions
# - Initial plan: Not necessary (c++ plan_vns do it for us)
scene = benchmark.generate_scenario_singlefire_singleuav_3d()
pl_env = get_initial_planning_environment(scene)
some_vns_conf = get_some_vns_conf(scene)
flight_confs_cpp = [f.as_cpp() for f in scene.flights]
prop = wildfire.propagate_from_points(pl_env,
scene.ignitions,
until=scene.time_window_end +
60 * 10)
ignitions = prop.ignitions()
observation_planner = planning.Planner(
pl_env,
ignitions,
scene.flights,
some_vns_conf,
)
search_result = observation_planner.compute_plan()
# TODO: Implement a LSTSsim class that receives a plan and when run:
# TODO: Obs fire, actual trajectory, plan execution report
# TODO: The called function must preempt the main loop.
# neptus.send_plan_to_dune(search_result.final_plan())