def addSet(self):
robotCfg = './/data//' + 'test2_tutorial.txt'
robCfg = Read_Cfg(robotCfg)
for i in range(5):
_set = []
robCfg.get('set' + str(i), _set)
setTrace = go.Box(y=_set, name='$ G_' + str(i + 1) + '$')
self.drawData.append(setTrace)
def addMakeSpan(self):
robotCfg = './/data//' + 'test1_tutorial.txt'
robCfg = Read_Cfg(robotCfg)
_set = []
robCfg.get('makespan', _set)
for i in range(len(_set)):
_set[i] = _set[i] * 4
setTrace = go.Box(y=_set, name='Makespan')
self.drawData.append(setTrace)
def addRobotStartPnt(self):
robotCfg = './/data//' + 'planDebug.txt'
robCfg = Read_Cfg(robotCfg)
lstx = []
lsty = []
robCfg.get('start_x', lstx)
robCfg.get('start_y', lsty)
for i in range(len(lstx)):
rangeLst = go.Scatter(x=[lstx[i]],
y=[lsty[i]],
mode='markers',
marker=dict(symbol='cross-dot', size=15),
name='Robot_' + str(i + 1))
self.drawData.append(rangeLst)
def addSpanningTree(self):
robotCfg = './/data//' + 'planDebug.txt'
robCfg = Read_Cfg(robotCfg)
lstx = []
lsty = []
robCfg.get('start_x', lstx)
robCfg.get('start_y', lsty)
robNum = len(lstx)
for i in range(robNum):
_tvx = []
_tvy = []
_svx = []
_svy = []
robCfg.get('tvx_' + str(i), _tvx)
# print(_tvx)
robCfg.get('tvy_' + str(i), _tvy)
robCfg.get('svx_' + str(i), _svx)
robCfg.get('svy_' + str(i), _svy)
mark_x = []
mark_y = []
for p in range(len(_tvx)):
pnt0 = Pnt(_tvx[p], _tvy[p])
pnt1 = Pnt(_svx[p], _svy[p])
mark_x.append(_tvx[p])
mark_x.append(_svx[p])
mark_y.append(_tvy[p])
mark_y.append(_svy[p])
line = Line(pnt0, pnt1)
lineDic = line.line2dict()
# print(randColor())
lineDic['line']['color'] = 'rgba(15,15,15,0.5)'
lineDic['line']['width'] = 3
self.shapeLst.append(copy.deepcopy(lineDic))
markTrace = go.Scatter(mode='markers',
x=mark_x,
y=mark_y,
marker=dict(size=15),
name='Spanning-Tree_' + str(i + 1))
self.drawData.append(markTrace)
return 1
def addPath(self):
robotCfg = './/data//' + 'planDebug.txt'
robCfg = Read_Cfg(robotCfg)
lstx = []
lsty = []
robCfg.get('start_x', lstx)
robCfg.get('start_y', lsty)
robNum = len(lstx)
for i in range(robNum):
_path_x = []
_path_y = []
robCfg.get('path_x_' + str(i), _path_x)
robCfg.get('path_y_' + str(i), _path_y)
pathTrace = go.Scatter(
x=_path_x,
y=_path_y,
mode='lines',
line=dict(
shape='spline',
# dash = 'dot',
width=4),
name='Path_' + str(i + 1))
self.drawData.append(pathTrace)
def drawPic(cfgFileName='5_20_20_80_Outdoor_Cfg.txt',
drawType=1,
fileName='nothing',
fileType=False):
# py.sign_in('tesla_fox', 'HOTRQ3nIOdYUUszDIfgN')
conFileDir = './/data//'
degNameCfg = conFileDir + cfgFileName
readCfg = Read_Cfg(degNameCfg)
data = []
readCfg.get('row', data)
row = int(data.pop())
readCfg.get('col', data)
col = int(data.pop())
mat = zeros((row, col))
obRowLst = []
obColLst = []
readCfg.get('obRow', obRowLst)
readCfg.get('obCol', obColLst)
for i in range(len(obRowLst)):
obRow = int(obRowLst[i])
obCol = int(obColLst[i])
mat[obRow][obCol] = 1
robRowLst = []
robColLst = []
readCfg.get('robRow', robRowLst)
readCfg.get('robCol', robColLst)
#case 1 draw Environment
if (drawType == 1):
env = Env(mat)
env.addgrid()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
env.drawPic('./png/env_' + cfgFileName, fileType)
#case 2 draw Environment with edges
if (drawType == 2):
env = Env(mat)
edgeNameCfg = conFileDir + 'obmapDeg.txt'
edgeCfg = Read_Cfg(edgeNameCfg)
edgeData = []
edgeUnit = []
edgeCfg.get('sRow', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('sCol', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tRow', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tCol', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdges(edgeData)
env.addTest()
env.drawPic('./png/edges', fileType=False)
#case 3 draw Envirionment with edges in pnt
if (drawType == 3):
env = Env(mat)
edgeNameCfg = conFileDir + 'obmapDeg.txt'
edgeCfg = Read_Cfg(edgeNameCfg)
edgeData = []
edgeUnit = []
edgeCfg.get('sPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('sPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdgeInPnt(edgeData)
env.addTest()
env.drawPic('./png/edgesInPnt', fileType=fileType)
# case 4 draw Envirionment with graph
if (drawType == 4):
env = Env(mat)
graphNameCfg = conFileDir + 'auctionDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
print('row', row)
print('col', col)
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addgrid()
env.addTest()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addGraph(robNum, graphData, True)
env.addRobotStartPnt(robLst)
env.drawPic('./png/robGraph', fileType=fileType)
# case 5
if (drawType == 5):
env = Env(mat)
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
env.addgrid()
graphNameCfg = conFileDir + 'auctionDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addGraph(robNum, graphData)
graphData = []
for i in range(robNum):
graphUnit = []
graphCfg.get('neiRow' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('neiCol' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
print(graphData)
env.addNeiGraph(robNum, graphData)
env.addTest()
env.drawPic('./png/robNei&Graph', fileType=fileType)
# case 4 draw Envirionment with graph
if (drawType == 6):
env = Env(mat)
graphNameCfg = conFileDir + 'auctionDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
print('row', row)
print('col', col)
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addgrid()
env.addTest()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addGraph(robNum, graphData, False)
env.addRobotStartPnt(robLst)
env.drawPic('./png/robGraph&RC', fileType=fileType)
# case 5 draw graph with STC
if (drawType == 7):
env = Env(mat)
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
graphNameCfg = conFileDir + 'auctionSTCDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addSTCGraph(robNum, graphData)
graphData = []
# for i in range(robNum):
# graphUnit = []
# graphCfg.get('neiRow'+str(i),graphUnit)
# graphData.append(copy.deepcopy(graphUnit))
# graphUnit = []
# graphCfg.get('neiCol'+str(i),graphUnit)
# graphData.append(copy.deepcopy(graphUnit))
# print(graphData)
# env.addNeiGraph(robNum,graphData)
env.addTest()
env.addRobotStartPnt(robLst)
env.addgrid()
env.drawPic('./png/robNei&Graph', fileType=fileType)
# case 8 draw environment and the GA_pattern path
if (drawType == 8):
env = Env(mat)
env.addgrid()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
pathNameCfg = conFileDir + '_decode_Cfg.txt'
pathCfg = Read_Cfg(pathNameCfg)
robNum = int(pathCfg.getSingleVal('robNum'))
pathData = []
for i in range(robNum):
path_x = []
pathCfg.get('path_x' + str(i), path_x)
pathData.append(copy.deepcopy(path_x))
path_y = []
pathCfg.get('path_y' + str(i), path_y)
pathData.append(copy.deepcopy(path_y))
env.addPath(robNum=robNum, lst=pathData)
# graphData.append(copy.deepcopy(graphUnit))
env.drawPic('./png/env_' + cfgFileName + fileName, fileType)
# case 9 draw environment and test the python graph function
if (drawType == 9):
env = Env(mat)
edgeNameCfg = conFileDir + '5_20_20_80_Outdoor_Cfg.txt'
edgeCfg = Read_Cfg(edgeNameCfg)
edgeData = []
edgeUnit = []
edgeCfg.get('sPntx', edgeUnit)
print('edgeLength', len(edgeUnit))
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('sPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdgeInPnt(edgeData)
env.addTest()
env.drawPic('./png/edgesInPntTestGraph', fileType=fileType)
def drawPic(cfgFileName='5_20_20_80_Outdoor_Cfg.txt',
drawType=1,
fileName='nothing',
fileType=False):
py.sign_in('tesla_fox', 'HOTRQ3nIOdYUUszDIfgN')
conFileDir = './/data//'
degNameCfg = conFileDir + cfgFileName
readCfg = Read_Cfg(degNameCfg)
data = []
readCfg.get('row', data)
row = int(data.pop())
readCfg.get('col', data)
col = int(data.pop())
mat = zeros((row, col))
obRowLst = []
obColLst = []
readCfg.get('obRow', obRowLst)
readCfg.get('obCol', obColLst)
for i in range(len(obRowLst)):
obRow = int(obRowLst[i])
obCol = int(obColLst[i])
mat[obRow][obCol] = 1
robRowLst = []
robColLst = []
readCfg.get('robRow', robRowLst)
readCfg.get('robCol', robColLst)
#case 1 draw Environment
if (drawType == 1):
env = Env(mat)
env.addgrid()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
env.drawPic('./png/env_' + cfgFileName, fileType)
#case 2 draw Environment with edges
if (drawType == 2):
env = Env(mat)
edgeNameCfg = conFileDir + 'obmapDeg.txt'
edgeCfg = Read_Cfg(edgeNameCfg)
edgeData = []
edgeUnit = []
edgeCfg.get('sRow', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('sCol', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tRow', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tCol', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdges(edgeData)
env.addTest()
env.drawPic('./png/edges', fileType=False)
#case 3 draw Envirionment with edges in pnt
if (drawType == 3):
env = Env(mat)
# edgeNameCfg = conFileDir +'obmapDeg.txt'
edgeNameCfg = conFileDir + 'auctionSTCDeg.txt'
edgeCfg = Read_Cfg(edgeNameCfg)
edgeData = []
edgeUnit = []
edgeCfg.get('sPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('sPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdgeInPnt(edgeData)
env.addTest()
env.drawPic('./png/edgesInPnt', fileType=fileType)
# case 4 draw Envirionment with graph
if (drawType == 4):
env = Env(mat)
graphNameCfg = conFileDir + 'auctionDeg.txt'
graphNameCfg = conFileDir + 'auctionSTCDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
print('row', row)
print('col', col)
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addgrid()
env.addTest()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addGraph(robNum, graphData, True)
env.addRobotStartPnt(robLst)
env.drawPic('./png/robGraph', fileType=fileType)
# case 5
if (drawType == 5):
env = Env(mat)
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
env.addgrid()
graphNameCfg = conFileDir + 'auctionDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addGraph(robNum, graphData)
graphData = []
for i in range(robNum):
graphUnit = []
graphCfg.get('neiRow' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('neiCol' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
print(graphData)
env.addNeiGraph(robNum, graphData)
env.addTest()
env.drawPic('./png/robNei&Graph', fileType=fileType)
# case 4 draw Envirionment with graph
if (drawType == 6):
env = Env(mat)
graphNameCfg = conFileDir + 'auctionDeg.txt'
graphNameCfg = conFileDir + 'auctionSTCDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
print('row', row)
print('col', col)
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addgrid()
env.addTest()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addGraph(robNum, graphData, False)
env.addRobotStartPnt(robLst)
env.drawPic('./png/robGraph&RC', fileType=fileType)
# case 5 draw graph with STC
if (drawType == 7):
env = Env(mat)
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
graphNameCfg = conFileDir + 'auctionSTCDeg.txt'
graphCfg = Read_Cfg(graphNameCfg)
robNum = int(graphCfg.getSingleVal('robNum'))
graphData = []
for i in range(robNum):
graphUnit = []
graphCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
graphCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addSTCGraph(robNum, graphData)
graphData = []
# for i in range(robNum):
# graphUnit = []
# graphCfg.get('neiRow'+str(i),graphUnit)
# graphData.append(copy.deepcopy(graphUnit))
# graphUnit = []
# graphCfg.get('neiCol'+str(i),graphUnit)
# graphData.append(copy.deepcopy(graphUnit))
# print(graphData)
# env.addNeiGraph(robNum,graphData)
env.addTest()
env.addRobotStartPnt(robLst)
env.addgrid()
env.drawPic('./png/robNei&Graph', fileType=fileType)
# case 8 draw environment and the GA_pattern path
if (drawType == 8):
env = Env(mat)
env.addgrid()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
pathNameCfg = conFileDir + '_decode_Cfg.txt'
pathCfg = Read_Cfg(pathNameCfg)
robNum = int(pathCfg.getSingleVal('robNum'))
pathData = []
for i in range(robNum):
path_x = []
pathCfg.get('path_x' + str(i), path_x)
pathData.append(copy.deepcopy(path_x))
path_y = []
pathCfg.get('path_y' + str(i), path_y)
pathData.append(copy.deepcopy(path_y))
env.addPath(robNum=robNum, lst=pathData)
# graphData.append(copy.deepcopy(graphUnit))
env.drawPic('./png/env_' + cfgFileName, fileType)
# case 9 draw environment and test the python graph function
if (drawType == 9):
env = Env(mat)
edgeNameCfg = conFileDir + '5_20_20_80_Outdoor_Cfg.txt'
edgeCfg = Read_Cfg(edgeNameCfg)
edgeData = []
edgeUnit = []
edgeCfg.get('sPntx', edgeUnit)
print('edgeLength', len(edgeUnit))
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('sPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
edgeCfg.get('tPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdgeInPnt(edgeData)
env.addTest()
env.drawPic('./png/edgesInPntTestGraph', fileType=fileType)
#case 10 draw multi path
if (drawType == 10):
env = Env(mat)
env.addgrid()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
pathNameCfg = conFileDir + 'auctionSTCEstDegend.txt'
pathCfg = Read_Cfg(pathNameCfg)
robNum = int(pathCfg.getSingleVal('robNum'))
graphData = []
print('row', row)
print('col', col)
for i in range(robNum):
graphUnit = []
pathCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
pathCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addGraph(robNum, graphData, False)
edgeData = []
edgeUnit = []
pathCfg.get('sPntx', edgeUnit)
print('edgeLength', len(edgeUnit))
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('sPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdgeInPnt(edgeData)
STCData = []
STCUnit = []
pathCfg.get('STCPntx', STCUnit)
STCData.append(copy.deepcopy(STCUnit))
STCUnit = []
pathCfg.get('STCPnty', STCUnit)
# print(STCUnit)
STCData.append(copy.deepcopy(STCUnit))
# env.addgrid()
# env.addSTCVert(STCData)
# env.addEdgeInPnt(edgeData)
pathData = []
for i in range(robNum):
path_x = []
pathCfg.get('path_x' + str(i), path_x)
pathData.append(copy.deepcopy(path_x))
path_y = []
pathCfg.get('path_y' + str(i), path_y)
pathData.append(copy.deepcopy(path_y))
# env.addPath(robNum = robNum, lst = pathData,txtType = False)
# graphData.append(copy.deepcopy(graphUnit))
env.drawPic('./png/env_' + cfgFileName + 'path', fileType)
# for the single stc
if (drawType == 11):
env = Env(mat)
env.addgrid()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
pathNameCfg = conFileDir + 'singleSTC.txt'
pathCfg = Read_Cfg(pathNameCfg)
robNum = int(pathCfg.getSingleVal('robNum'))
graphData = []
print('row', row)
print('col', col)
print(robNum)
for i in range(robNum):
graphUnit = []
pathCfg.get('row' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
graphUnit = []
pathCfg.get('col' + str(i), graphUnit)
graphData.append(copy.deepcopy(graphUnit))
env.addGraph(robNum, graphData, False)
terminalPnt = []
pathData = []
for i in range(robNum):
path_x = []
pathCfg.get('path_x' + str(i), path_x)
pathData.append(copy.deepcopy(path_x))
terminalPnt.append(path_x[len(path_x) - 1])
path_y = []
pathCfg.get('path_y' + str(i), path_y)
pathData.append(copy.deepcopy(path_y))
terminalPnt.append(path_y[len(path_y) - 1])
env.addPath(robNum=robNum, lst=pathData, txtType=False)
env.addRobotStartPnt(robLst)
env.addRobotTerminalPnt(terminalPnt)
edgeData = []
edgeUnit = []
pathCfg.get('sPntx', edgeUnit)
print('edgeLength', len(edgeUnit))
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('sPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPntx', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPnty', edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
env.addgrid()
env.addEdgeInPnt(edgeData)
# graphData.append(copy.deepcopy(graphUnit))
env.drawPic('./png/env_' + cfgFileName + 'path', fileType)
# print('wtf')
#case 10 draw multi path
if (drawType == 12):
env = Env(mat)
env.addgrid()
robLst = []
pathNameCfg = conFileDir + 'auctionSTCEstDeg.txt'
pathNameCfg = conFileDir + 'CfgDeg2.txt'
pathCfg = Read_Cfg(pathNameCfg)
robNum = int(pathCfg.getSingleVal('robNum'))
pathData = []
for i in range(robNum):
path_x = []
pathCfg.get('path_x' + str(i), path_x)
pathData.append(copy.deepcopy(path_x))
path_y = []
pathCfg.get('path_y' + str(i), path_y)
pathData.append(copy.deepcopy(path_y))
env.addPath(robNum=robNum, lst=pathData, txtType=False)
# graphData.append(copy.deepcopy(graphUnit))
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
env.drawPic('./png/env_' + cfgFileName + 'JustPath', fileType)
if (drawType == 13):
env = Env(mat)
spanningData = []
pathNameCfg = conFileDir + 'auctionSTCEstDeg.txt'
pathNameCfg = conFileDir + 'CfgDeg2.txt'
pathCfg = Read_Cfg(pathNameCfg)
robNum = int(pathCfg.getSingleVal('robNum'))
for i in range(robNum):
edgeData = []
edgeUnit = []
pathCfg.get('sPntx' + str(i), edgeUnit)
print('edgeLength', len(edgeUnit))
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('sPnty' + str(i), edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPntx' + str(i), edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPnty' + str(i), edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
spanningData.append(copy.deepcopy(edgeData))
env.addMultiEdgeInPnt(robNum=robNum, lst=spanningData)
env.drawPic('./png/env_' + cfgFileName + 'spanningTree', fileType)
if (drawType == 14):
env = Env(mat)
env.addgrid()
robLst = []
print('0-0-', len(cfgFileName))
cfgFileNameStri = cfgFileName.split('.')
pathNameCfg = conFileDir + 'GAcomp//' + cfgFileNameStri[
0] + 'auctionSTCEstDeg.txt'
pathCfg = Read_Cfg(pathNameCfg)
robNum = int(pathCfg.getSingleVal('robNum'))
pathData = []
for i in range(robNum):
path_x = []
pathCfg.get('path_x' + str(i), path_x)
pathData.append(copy.deepcopy(path_x))
path_y = []
pathCfg.get('path_y' + str(i), path_y)
pathData.append(copy.deepcopy(path_y))
env.addPath(robNum=robNum, lst=pathData, txtType=False)
# graphData.append(copy.deepcopy(graphUnit))
spanningData = []
for i in range(robNum):
edgeData = []
edgeUnit = []
pathCfg.get('sPntx' + str(i), edgeUnit)
print('edgeLength', len(edgeUnit))
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('sPnty' + str(i), edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPntx' + str(i), edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
edgeUnit = []
pathCfg.get('tPnty' + str(i), edgeUnit)
edgeData.append(copy.deepcopy(edgeUnit))
spanningData.append(copy.deepcopy(edgeData))
env.addMultiEdgeInPnt(robNum=robNum, lst=spanningData)
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
env.drawPic('./png/env_' + cfgFileName + 'JustPath', fileType)
def drawSubPlot(self, name='subplot'):
# fig = plotly.tools.make_subplots(rows = 2,cols = 1)
# fig.append_trace(trace)
figData = []
robotCfg = './/data//' + 'test2_tutorial.txt'
robCfg = Read_Cfg(robotCfg)
for i in range(5):
_set = []
robCfg.get('set' + str(i), _set)
setTrace = go.Box(y=_set, name='$ G_' + str(i + 1) + '$')
figData.append(setTrace)
_set = []
robCfg.get('makespan', _set)
for i in range(len(_set)):
_set[i] = _set[i] * 4
setTrace = go.Box(y=_set, name='Makespan', xaxis='x2', yaxis='y2')
figData.append(setTrace)
layout = dict()
layout['xaxis'] = dict(domain=[0, 0.8],
autorange=True,
showgrid=False,
zeroline=False,
showline=True,
autotick=True,
ticks='',
showticklabels=True)
layout['yaxis'] = dict(scaleanchor="x",
autorange=True,
showgrid=False,
zeroline=False,
showline=True,
autotick=True,
ticks='',
title='The number of mega vertexes',
showticklabels=True)
layout['xaxis2'] = dict(domain=[0.9, 1],
autorange=True,
showgrid=False,
zeroline=False,
showline=True,
autotick=True,
ticks='',
showticklabels=True)
layout['yaxis2'] = dict(scaleanchor="x",
autorange=True,
showgrid=False,
zeroline=False,
showline=True,
autotick=True,
ticks='',
title='Time(s)',
anchor='x2',
showticklabels=True)
layout['font'] = dict(family='sans-serif', size=25, color='#000')
layout['autosize'] = False
layout['height'] = 1000
layout['width'] = 1800
layout['showlegend'] = False
fig = go.Figure(data=figData, layout=layout)
py.image.save_as(fig, filename=name + '.jpeg')
# print(layout)
data = []
data.append(rangeTrace)
data.append(markTrace)
data.append(startTrace)
data.append(terminalTrace)
fig = dict(data=data, layout=layout)
plotly.offline.plot(fig, filename='multiPlan')
# py.image.save_as(fig,filename ='stc_demon.jpeg')
Image('./env.png')
print('draw success')
if __name__ == '__main__':
conFileDir = './/data//'
degNameCfg = conFileDir + 'map_debug.txt'
readCfg = Read_Cfg(degNameCfg)
gridStep = 10
lstx = list()
lsty = []
grid_x = list()
grid_y = list()
svd = []
tvd = []
vob = []
readMark = readCfg.get('range_x', lstx)
readMark = readCfg.get('range_y', lsty)
readMark = readCfg.get('grid_x', grid_x)
readMark = readCfg.get('grid_y', grid_y)
readCfg.get('obType', vob)
readCfg.get('svd', svd)