def generate_scenario_singlefire_singleuav():
# 9 by 7 km area
area = Area(480060.0, 489060.0, 6210074.0, 6217074.0)
uav_speed = 18. # m/s
uav_max_pitch_angle = 6. / 180. * np.pi
uav_max_turn_rate = 32. * np.pi / 180 / 2 # Consider a more conservative turn rate
uav_bases = [Waypoint(area.xmin + 100, area.ymin + 100, 0, 0)]
wind_speed = 15.
wind_dir = 0.
num_ignitions = 1
ignitions = [
TimedPoint(random.uniform(area.xmin, area.xmax),
random.uniform(area.ymin, area.ymax),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = 1
flights = []
for i in range(num_flights):
uav_start = random.uniform(start, start + 4000.)
max_flight_time = random.uniform(1000, 1500)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
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
def propagate_from_cell(env: Environment,
cell: Cell,
until=np.inf) -> 'FirePropagation':
"""Set the environment on fire in (x, y) at time 0 and returns the ignition times of other points of the environment.
:param env: Environment model
:param cell: (x,y) coordinates of the ignition point (as array index)
:param until: Wall-clock time at which to stop the propagation
:return: A matrix of ignition time. The size of the matrix is given by the size of the environment
"""
fp = FirePropagation(env)
pt = env.raster.coordinates(cell)
fp.set_ignition_point(TimedPoint(pt.x, pt.y, 0))
fp.propagate(until=until)
return fp
def generate_scenario_big_fire():
"""A dozen UAVs monitoring a dozen fires"""
# 9 by 7 km area
area = Area(532000.0, 540000.0, 4567000.0, 4575000.0)
uav_speed = 18. # m/s
uav_max_pitch_angle = 6. / 180. * np.pi
uav_max_turn_rate = 32. * np.pi / 180
uav_bases = [ # four corners of the map
Waypoint(area.xmin + 100, area.ymin + 100, 0, 0),
Waypoint(area.xmin + 100, area.ymax - 100, 0, 0),
Waypoint(area.xmax - 100, area.ymin + 100, 0, 0),
Waypoint(area.xmax - 100, area.ymax - 100, 0, 0)
]
wind_speed = random.uniform(1., 2.) # wind speed in [10,20] km/h
wind_dir = random.random() * 2 * np.pi
num_ignitions = random.randint(1, 1)
# Calculate a safe area for the ignitions
allowed_range_x = (area.xmax - area.xmin) * 0.25
allowed_range_y = (area.ymax - area.ymin) * 0.25
ignitions = [
TimedPoint(
random.uniform(area.xmin + allowed_range_x,
area.xmax - allowed_range_x),
random.uniform(area.ymin + allowed_range_y,
area.ymax - allowed_range_y), random.uniform(0, 0))
for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = random.randint(1, 5)
flights = []
for i in range(num_flights):
uav_start = random.uniform(start + 50000., start + 50000.)
max_flight_time = random.uniform(500, 1200)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
def generate_scenario_newsletter():
# 9 by 7 km area
area = Area(545000.0, 548000.0, 6211000.0, 6214000.0)
uav_max_pitch_angle = 6. / 180. * np.pi # aka gamma_max=0.11rad for 2m/s rate of climb and 18m/s cruise air speed
uav_speed = 18. # m/s
uav_max_turn_rate = 32. * np.pi / 180 / 2 # Consider a more conservative turn rate
uav_bases = [Waypoint(area.xmin + 100, area.ymax - 100, 100., 0.)]
num_ignitions = 1
wind_speed = random.choice([
10.,
]) # 18 km/h, 36 km/h, 54 km/h, 72 km/h
wind_dir = random.choice([
np.pi / 4,
])
area_range = (area.xmax - area.xmin, area.ymax - area.ymin)
ignitions = [
TimedPoint(
random.uniform(area.xmin + area_range[0] * .2,
area.xmax - area_range[0] * .4),
random.uniform(area.ymin + area_range[1] * .4,
area.ymax - area_range[1] * .6),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = 1
flights = []
for i in range(num_flights):
uav_start = start + 3000
max_flight_time = 450
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
def scenario_a():
# 9 by 7 km area
area = Area(532000.0, 540000.0, 4567000.0, 4575000.0)
uav_speed = 18. # m/s
uav_max_pitch_angle = 6. / 180. * np.pi
uav_max_turn_rate = 32. * np.pi / 180
uav_bases = [ # four corners of the map
Waypoint(area.xmin + 100, area.ymin + 100, 0, 0),
Waypoint(area.xmin + 100, area.ymax - 100, 0, 0),
Waypoint(area.xmax - 100, area.ymin + 100, 0, 0),
Waypoint(area.xmax - 100, area.ymax - 100, 0, 0)
]
wind_speed = 15. # random.uniform(10., 20.) # wind speed in [10,20] km/h
wind_dir = 0. # random.random() * 2 * np.pi
num_ignitions = random.randint(1, 3)
ignitions = [
TimedPoint(random.uniform(area.xmin, area.xmax),
random.uniform(area.ymin, area.ymax),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = random.randint(1, 3)
flights = []
for i in range(num_flights):
uav_start = random.uniform(start, start + 4000.)
max_flight_time = random.uniform(500, 1200)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
def generate_scenario_utility_test():
# 2 by 2 km area
area = Area(480060.0, 482060.0, 6210074.0, 6212074.0)
uav_max_pitch_angle = 6. / 180. * np.pi # aka gamma_max=0.11rad for 2m/s rate of climb and 18m/s cruise air speed
uav_speed = 18. # m/s
uav_max_turn_rate = 32. * np.pi / 180 / 2 # Consider a more conservative turn rate
uav_bases = [Waypoint(area.xmin + 100, area.ymin + 100, 0., 0.)]
num_ignitions = 1
wind_speed = random.choice([5., 10., 15.,
20.]) # 18 km/h, 36 km/h, 54 km/h, 72 km/h
wind_dir = random.choice([0., np.pi / 2, np.pi, 3 * np.pi / 4])
area_range = (area.xmax - area.xmin, area.ymax - area.ymin)
ignitions = [
TimedPoint(
random.uniform(area.xmin + area_range[0] * .1,
area.xmax - area_range[0] * .1),
random.uniform(area.ymin + area_range[1] * .1,
area.ymax - area_range[1] * .1),
random.uniform(0, 3000)) for i in range(num_ignitions)
]
# start once all fires are ignited
start = max([igni.time for igni in ignitions])
num_flights = 1
flights = []
for i in range(num_flights):
uav_start = random.uniform(start + 2500, start + 7500.)
max_flight_time = random.uniform(1000, 1500)
name = " ".join(("UAV", str(i)))
uav = UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
flights.append(
FlightConf(name, uav, uav_start, max_flight_time,
random.choice(uav_bases)))
scenario = Scenario(((area.xmin, area.xmax), (area.ymin, area.ymax)),
wind_speed, wind_dir, ignitions, flights)
return scenario
import fire_rs.geodata.display
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,
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 setUp(self):
self.test_area = [[480060.0, 485060.0], [6210074.0, 6215074.0]]
self.ignition_point = TimedPoint(480060 + 800, 6210074 + 2500, 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()