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
config.param_UAV_charging_power_consumption_rate = charging_rate config.param_UAV_base_distance = base_distance config.param_UAV_power_capacity = UAV_power_capacity network_type_str = str(num) + '_' + str(size) + '_' + str(size) \ + '_' + str(net_type) + '_' + str(localization_time) \ + '_' + str(transfer_rate) + '_' + str(task_threshold) \ + '_' + str(hovering_rate) + '_' + str(charging_rate) \ + '_' + str(base_distance) + '_' + str(UAV_power_capacity) print 'Network Type: ' + network_type_str UAV_new, nodes_new = object_manager_.create_objects(config) # single flight if is_single_flight == True: # lower bound nodes = copy.deepcopy(nodes_new) lower_bound = UAV_AI.compute_lifetime_lower_bound(nodes) print 'Lifetime lower Bound', lower_bound res_file.write(network_type_str + ',' + 'lower_bound' + ',' + str(lower_bound) + '\n') # start the experiment 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) # a hack for combination experiment # for node in nodes: