def test_reverseMDP(plot=False):
greed = 0.9
phobia = 0.1
angStep = 1
downsample = int(numpy.floor(3 / angStep))
xPos, yPos = utils.hexFromDia(25, pitch=22.4)
seed = 1
rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=seed)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee)
rg.setCollisionBuffer(collisionBuffer)
rg.initGrid()
for rID in rg.robotDict:
robot = rg.getRobot(rID)
robot.setXYUniform()
assert rg.getNCollisions() > 10
rg.decollideGrid()
for robot in rg.robotDict.values():
robot.setDestinationAlphaBeta(0, 180)
assert rg.getNCollisions() == 0
rg.pathGenMDP(greed, phobia)
if plot:
utils.plotPaths(rg, downsample=downsample, filename="reverseMDP.mp4")
def test_fatty(plot=False):
xPos, yPos = utils.hexFromDia(11, pitch=22.4)
print("n robots", len(xPos))
angStep = 0.1
greed = 0.8
phobia = 0.2
collisionBuffer = 4
downsample = int(numpy.floor(3 / angStep))
rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=1)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee)
rg.setCollisionBuffer(collisionBuffer)
rg.initGrid()
for rID in rg.robotDict:
robot = rg.getRobot(rID)
robot.setXYUniform()
robot.setDestinationAlphaBeta(90, 180)
# assert rg.getNCollisions() > 10
rg.decollideGrid()
rg.pathGenMDP(greed, phobia)
# rg.smoothPaths(3)
# rg.simplifyPaths()
# rg.verifySmoothed()
if plot:
utils.plotPaths(rg, downsample=downsample, filename="fatty.mp4")
def test_forwardMDP(plot=False):
xPos, yPos = utils.hexFromDia(25, pitch=22.4)
seed = 1
rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=seed)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee)
rg.setCollisionBuffer(collisionBuffer)
rg.initGrid()
for rID in rg.robotDict:
robot = rg.getRobot(rID)
robot.setXYUniform()
assert rg.getNCollisions() > 10
rg.decollideGrid()
print("N collisions 1", rg.getNCollisions())
for robot in rg.robotDict.values():
robot.setDestinationAlphaBeta(robot.alpha, robot.beta)
robot.setAlphaBeta(0, 180)
print("N collisions 2", rg.getNCollisions())
# assert rg.getNCollisions() == 0
rg.pathGenMDP(0.9, 0.1)
if plot:
utils.plotPaths(rg, filename="forwardMDP.mp4")
def test_initialConfigs(plot=False):
xPos, yPos = utils.hexFromDia(21, pitch=22.4)
angStep = 0.1
greed = 0.8
phobia = 0.2
downsample = int(numpy.floor(10 / angStep))
rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=1)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee)
rg.setCollisionBuffer(collisionBuffer)
rg.initGrid()
for rID in rg.robotDict:
robot = rg.getRobot(rID)
robot.setXYUniform()
assert rg.getNCollisions() > 10
if plot:
utils.plotOne(-1, rg, figname="angStepO.png", isSequence=False)
rg.decollideGrid()
for robot in rg.robotDict.values():
robot.setDestinationAlphaBeta(0, 180)
if plot:
utils.plotOne(-1, rg, figname="angStepD.png", isSequence=False)
rg.pathGenMDP(greed, phobia)
if plot:
utils.plotOne(-1, rg, figname="angStepE.png", isSequence=False)
if plot:
utils.plotPaths(rg, downsample=downsample, filename="init.mp4")
def doOne(seed, flip90=False):
rg = RobotGrid(angStep, collisionBuffer, 2.2, seed)
xPos, yPos = utils.hexFromDia(nDia, pitch=22.4)
for ii, (xp, yp) in enumerate(zip(xPos, yPos)):
if flip90:
xrot = cos * xp + sin * yp
yrot = sin * xp - cos * yp
rg.addRobot(ii, xrot, yrot, hasApogee)
else:
rg.addRobot(ii, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform() # r.setXYUniform can give nan values for alpha beta?
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen() # calling decollide twice breaks things?
robotsFolded = 0
for r in rg.allRobots:
if r.alpha == 0 and r.beta == 180:
robotsFolded += 1
# if rg.didFail:
# filename = "seed_%i"%seed
# if flip90:
# filename += "_flipped"
# else:
# filename += "_notflipped"
# utils.plotOne(1, rg, figname=filename+".png", isSequence=False, internalBuffer=collisionBuffer)
return robotsFolded
def newGrid(seed=0):
hasApogee = True
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
for posID, (xp, yp) in posDict.items():
rg.addRobot(posID, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform()
rg.decollide2()
return rg
def safeGrid():
hasApogee = True
seed = 0
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
for posID, (xp, yp) in posDict.items():
rg.addRobot(posID, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setAlphaBeta(45, 90)
rg.decollide2()
return rg
def getGrid(angStep, cbuff, seed, nDia):
rg = RobotGrid(stepSize=angStep,
collisionBuffer=cbuff,
epsilon=angStep * 2,
seed=seed)
xPos, yPos = xPos, yPos = utils.hexFromDia(nDia, pitch=22.4, rotAngle=90)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID, x, y, hasApogee)
rg.initGrid()
for robot in rg.robotDict.values():
robot.setXYUniform()
robot.setDestinationAlphaBeta(10, 170)
rg.decollideGrid()
# print("nCollisions in getGrid", rg.getNCollisions())
return rg
def test_unevenCBs(plot=False):
hasApogee = True
greed = 0.8
phobia = 0.2
xPos, yPos = utils.hexFromDia(17, pitch=22.4)
seed = 1
# cb = 2.5
cs = 0.04
step = 0.1 # degrees per step in kaiju's rough path
smoothPts = 10 # width of velocity smoothing window
eps = step * 2.2
# downsample = int(numpy.floor(50 / step))
rg = RobotGrid(stepSize=step, epsilon=eps, seed=seed)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID,
str(robotID), [x, y, 0],
hasApogee,
collisionBuffer=numpy.random.uniform(1.5, 3.5))
rg.initGrid()
for rID in rg.robotDict:
robot = rg.getRobot(rID)
robot.setXYUniform()
assert rg.getNCollisions() > 10
rg.decollideGrid()
for robot in rg.robotDict.values():
robot.setDestinationAlphaBeta(0, 180)
assert rg.getNCollisions() == 0
tstart = time.time()
rg.pathGenMDP(greed, phobia)
print("pathgen took", time.time() - tstart)
rg.smoothPaths(smoothPts)
rg.simplifyPaths()
rg.shrinkCollisionBuffer(cs)
rg.verifySmoothed()
assert rg.smoothCollisions == 0
print("n smooth collisions", rg.smoothCollisions)
if plot:
for r in rg.robotDict.values():
utils.plotTraj(r, "unevenCBs", dpi=250)
utils.plotPaths(rg, downsample=3, filename="unevenCBs.mp4")
def test_setMDP(plot=False):
greed = 0.8
phobia = 0.2
xPos, yPos = utils.hexFromDia(45, pitch=22.4)
print("using ", len(xPos), "robots")
# collisionBuffer = 3
angStep = 0.5
collisionBuffer = 3
downsample = int(numpy.floor(3 / angStep))
for seed in range(100):
rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=seed)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee)
rg.setCollisionBuffer(collisionBuffer)
rg.initGrid()
for rID in rg.robotDict:
robot = rg.getRobot(rID)
robot.setXYUniform()
assert rg.getNCollisions() > 10
rg.decollideGrid()
for robot in rg.robotDict.values():
robot.setDestinationAlphaBeta(90, 180)
assert rg.getNCollisions() == 0
rg.pathGenMDP(greed, phobia)
deadlockedRobots = []
for r in rg.robotDict.values():
# if not r.onTargetVec[-1]:
if r.score() > 0:
deadlockedRobots.append(r.id)
if len(deadlockedRobots):
print("seed", seed, "failed with these", deadlockedRobots, "in ",
rg.nSteps)
break
else:
print("seed", seed, "didn't fail", rg.nSteps, " taken to solve")
if plot:
utils.plotPaths(rg,
downsample=downsample,
filename="reverseSetMDP.mp4")
def test_tofile(plot=False):
xPos, yPos = utils.hexFromDia(37, pitch=22.4, rotAngle=90)
print("n robots", len(xPos))
angStep = 1
greed = 0.8
phobia = 0.2
downsample = int(numpy.floor(3 / angStep))
rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=1)
for robotID, (x, y) in enumerate(zip(xPos, yPos)):
rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee)
rg.setCollisionBuffer(collisionBuffer)
rg.initGrid()
for rID in rg.robotDict:
robot = rg.getRobot(rID)
robot.setXYUniform()
assert rg.getNCollisions() > 10
rg.decollideGrid()
for robot in rg.robotDict.values():
robot.setDestinationAlphaBeta(10, 170)
rg.pathGenMDP(greed, phobia)
# rg.smoothPaths(3)
# rg.simplifyPaths()
# rg.verifySmoothed()
# t1 = time.time()
# rg.summaryJSON("json.txt")
# print("json took", (time.time()-t1))
# t1 = time.time()
# rg.summaryPickle("rg.pkl")
# print("pickle took", (time.time()-t1))
# t1 = time.time()
# g = json.load(open("json.txt", "r"))
# print("json load took", (time.time()-t1))
# t1 = time.time()
# g = pickle.load(open("rg.pkl", "rb"))
# print("pickle load took", (time.time()-t1))
if plot:
utils.plotOne(-1, rg, figname="tofile.png", isSequence=False)
def getValidAssignments(seed):
"""seed is the random seed with which to initialze the RobotGrid
return dictionary keyed by positioner id with the coordinates of the
metrology fiber. These represent valid (non-collided) xy Fiber positions
for each robot
"""
rg = RobotGrid(seed=seed)
for ii, (xp, yp) in enumerate(zip(xCoords, yCoords)):
rg.addRobot(robotID=ii, xPos=xp, yPos=yp)
rg.initGrid()
# give all robots an initial (radom) target configuration
for robot in rg.robotDict.values():
# assigns a robot a target picked uniformly in xy
# from its patrol annulus
robot.setXYUniform()
# decollide any colliding robots so that we have a completely
# non-colliding target configuration
rg.decollideGrid()
targetPos = {}
for robot in rg.robotDict.values():
targetPos[robot.id] = robot.metFiberPos[:-1] # xy coord, drop the z
return targetPos
if __name__ == "__main__":
minPoints = 30
cos = numpy.cos(numpy.radians(90))
sin = numpy.sin(numpy.radians(90))
seed = 5000
while True:
seed += 1
print("trying seed", seed)
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
for ii, (xp, yp) in enumerate(zip(xPos, yPos)):
xrot = cos * xp + sin * yp
yrot = sin * xp - cos * yp
# print("%.8f, %.8f"%(xrot,yrot))
rg.addRobot(ii, xrot, yrot, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform()
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen()
rg.smoothPaths(smoothPts) # must be odd
rg.simplifyPaths()
rg.setCollisionBuffer(collisionBuffer - collisionShrink)
rg.verifySmoothed()
# find max beta path points
# only plot if we've found minimum
# amount of points
def generatePath(seed=0, plot=False, movie=False):
nDia = 3
pitch = 22.4
hasApogee = True
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
# epfl grid is sideways
# xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
# for ii, (xp, yp), posID in enumerate(zip(xPos, yPos, posList)):
# rg.addRobot(posID, xp, yp, hasApogee)
# rg.initGrid()
for posID, (xp, yp) in posDict.items():
# print("loading pos %i [%.2f, %.2f]"%(posID, xp, yp))
rg.addRobot(posID, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
# print("loading pos %i [%.2f, %.2f]"%(r.id, r.xPos, r.yPos))
# print("robotID", r.id)
r.setXYUniform()
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen()
if rg.didFail:
print("path gen failed")
raise (RuntimeError, "path gen failed")
rg.smoothPaths(smoothPts)
rg.simplifyPaths()
rg.setCollisionBuffer(collisionBuffer - collisionShrink)
rg.verifySmoothed()
if rg.smoothCollisions:
print("smoothing failed with ", rg.smoothCollisions)
raise (RuntimeError, "smoothing failed")
if movie:
plotMovie(rg, filename="movie_%i" % seed)
# find the positioner with the most interpolated steps
forwardPath = {}
reversePath = {}
for robotID, r in zip(posDict.keys(), rg.allRobots):
assert robotID == r.id
if plot:
plotTraj(r, "seed_%i_" % seed, dpi=250)
# bp = numpy.array(r.betaPath)
# sbp = numpy.array(r.interpSmoothBetaPath)
ibp = numpy.array(r.simplifiedBetaPath)
# ap = numpy.array(r.alphaPath)
# sap = numpy.array(r.interpSmoothAlphaPath)
iap = numpy.array(r.simplifiedAlphaPath)
# generate kaiju trajectory (for robot 23)
# time = angStep * stepNum / speed
alphaTimesR = iap[:, 0] * angStep / RobotMaxSpeed
alphaDegR = iap[:, 1]
betaTimesR = ibp[:, 0] * angStep / RobotMaxSpeed
betaDegR = ibp[:, 1]
armPathR = {} # reverse path
armPathR["alpha"] = [(pos, time)
for pos, time in zip(alphaDegR, alphaTimesR)]
armPathR["beta"] = [(pos, time)
for pos, time in zip(betaDegR, betaTimesR)]
reversePath[robotID] = armPathR
# build forward path
alphaTimesF = numpy.abs(alphaTimesR - alphaTimesR[-1])[::-1]
alphaDegF = alphaDegR[::-1]
betaTimesF = numpy.abs(betaTimesR - betaTimesR[-1])[::-1]
betaDegF = betaDegR[::-1]
armPathF = {} # reverse path
armPathF["alpha"] = [(pos, time)
for pos, time in zip(alphaDegF, alphaTimesF)]
armPathF["beta"] = [(pos, time)
for pos, time in zip(betaDegF, betaTimesF)]
forwardPath[robotID] = armPathF
return forwardPath, reversePath
def generatePath(seed=0, plot=False):
nDia = 3
pitch = 22.4
hasApogee = True
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
for ii, (xp, yp) in enumerate(zip(xPos, yPos)):
rg.addRobot(ii, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform()
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen()
if rg.didFail:
print("path gen failed")
raise (RuntimeError, "path gen failed")
rg.smoothPaths(smoothPts)
rg.simplifyPaths()
rg.setCollisionBuffer(collisionBuffer - collisionShrink)
rg.verifySmoothed()
if rg.smoothCollisions:
print("smoothing failed with ", rg.smoothCollisions)
raise (RuntimeError, "smoothing failed")
# find the positioner with the most interpolated steps
useRobot = None
maxSteps = 0
for i, r in enumerate(rg.allRobots):
m = len(r.simplifiedBetaPath) # beta path is usually more complicated
if m > maxSteps:
maxSteps = m
useRobot = r
if plot:
plotTraj(useRobot, "seed_%i_" % seed, dpi=250)
# bp = numpy.array(useRobot.betaPath)
# sbp = numpy.array(useRobot.interpSmoothBetaPath)
ibp = numpy.array(useRobot.simplifiedBetaPath)
# ap = numpy.array(useRobot.alphaPath)
# sap = numpy.array(useRobot.interpSmoothAlphaPath)
iap = numpy.array(useRobot.simplifiedAlphaPath)
# generate kaiju trajectory (for robot 23)
# time = angStep * stepNum / speed
alphaTimesR = iap[:, 0] * angStep / RobotMaxSpeed
alphaDegR = iap[:, 1]
betaTimesR = ibp[:, 0] * angStep / RobotMaxSpeed
betaDegR = ibp[:, 1]
armPathR = {} # reverse path
armPathR["alpha"] = [(pos, time)
for pos, time in zip(alphaDegR, alphaTimesR)]
armPathR["beta"] = [(pos, time) for pos, time in zip(betaDegR, betaTimesR)]
reversePath = {robotID: armPathR}
# build forward path
alphaTimesF = numpy.abs(alphaTimesR - alphaTimesR[-1])[::-1]
alphaDegF = alphaDegR[::-1]
betaTimesF = numpy.abs(betaTimesR - betaTimesR[-1])[::-1]
betaDegF = betaDegR[::-1]
armPathF = {} # reverse path
armPathF["alpha"] = [(pos, time)
for pos, time in zip(alphaDegF, alphaTimesF)]
armPathF["beta"] = [(pos, time) for pos, time in zip(betaDegF, betaTimesF)]
forwardPath = {robotID: armPathF}
return forwardPath, reversePath, maxSteps
epsilon = angStep * 2.2
seed1 = 0
seed2 = 1
hasApogee = True
figOffset = 0
# maxPathSteps = int(700.0/angStep)
posDict = OrderedDict()
posDict[24] = [0, -22.4]
posDict[17] = [0, 0]
posDict[21] = [0, 22.4]
posDict[19] = [19.39896904, -11.20000000]
posDict[20] = [19.39896904, 11.20000000]
posDict[16] = [-19.39896904, -11.20000000]
posDict[25] = [-19.39896904, 11.20000000]
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed1)
for posID, (xp, yp) in posDict.items():
rg.addRobot(posID, xp, yp, hasApogee)
# xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
# for ii, (xp,yp) in enumerate(zip(xPos,yPos)):
# rg.addRobot(ii, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform()
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen()
plotMovie(rg)
async def main():
# Set logging level to DEBUG
#log.set_level(20)
# Initialise the FPS instance.
fps = FPS(layout="grid7.txt")
await fps.initialise()
hasApogee = True
seed = 0 # ignored we're setting ppositions manually
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
# epfl grid is sideways
# xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
# for ii, (xp, yp), posID in enumerate(zip(xPos, yPos, posList)):
# rg.addRobot(posID, xp, yp, hasApogee)
# rg.initGrid()
for posID, (xp, yp) in posDict.items():
# print("loading pos %i [%.2f, %.2f]"%(posID, xp, yp))
rg.addRobot(posID, xp, yp, hasApogee)
rg.initGrid()
#print("fps.positioners", fps.positioners)
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
# print("loading pos %i [%.2f, %.2f]"%(r.id, r.xPos, r.yPos))
# print("robotID", r.id)
await fps.positioners[r.id].update_position()
alpha, beta = fps.positioners[r.id].position
print("IIII", r.id, alpha, beta)
r.setAlphaBeta(alpha, beta)
# set all positioners randomly (they are initialized at 0,0)
# rg.decollide2()
rg.pathGen()
if rg.didFail:
print("path gen failed")
raise (RuntimeError, "path gen failed")
rg.smoothPaths(smoothPts)
rg.simplifyPaths()
rg.setCollisionBuffer(collisionBuffer - collisionShrink)
rg.verifySmoothed()
if rg.smoothCollisions:
print("smoothing failed with ", rg.smoothCollisions)
raise (RuntimeError, "smoothing failed")
# find the positioner with the most interpolated steps
reversePath = {}
for robotID, r in zip(posDict.keys(), rg.allRobots):
assert robotID == r.id
# bp = numpy.array(r.betaPath)
# sbp = numpy.array(r.interpSmoothBetaPath)
ibp = numpy.array(r.simplifiedBetaPath)
# ap = numpy.array(r.alphaPath)
# sap = numpy.array(r.interpSmoothAlphaPath)
iap = numpy.array(r.simplifiedAlphaPath)
# generate kaiju trajectory (for robot 23)
# time = angStep * stepNum / speed
alphaTimesR = iap[:, 0] * angStep / RobotMaxSpeed
alphaDegR = iap[:, 1]
betaTimesR = ibp[:, 0] * angStep / RobotMaxSpeed
betaDegR = ibp[:, 1]
armPathR = {} # reverse path
armPathR["alpha"] = [(pos, time)
for pos, time in zip(alphaDegR, alphaTimesR)]
armPathR["beta"] = [(pos, time)
for pos, time in zip(betaDegR, betaTimesR)]
reversePath[robotID] = armPathR
await fps.send_trajectory(reversePath)
await fps.shutdown()