viz.histogram(X=np.random.rand(10000), opts=dict(numbins=20))
# heatmap
viz.heatmap(
X=np.outer(np.arange(1, 6), np.arange(1, 11)),
opts=dict(
columnnames=['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j'],
rownames=['y1', 'y2', 'y3', 'y4', 'y5'],
colormap='Electric',
))
# contour
x = np.tile(np.arange(1, 101), (100, 1))
y = x.transpose()
X = np.exp((((x - 50)**2) + ((y - 50)**2)) / -(20.0**2))
viz.contour(X=X, opts=dict(colormap='Viridis'))
# surface
viz.surf(X=X, opts=dict(colormap='Hot'))
# line plots
viz.line(Y=np.random.rand(10), opts=dict(showlegend=True))
Y = np.linspace(-5, 5, 100)
viz.line(
Y=np.column_stack((Y * Y, np.sqrt(Y + 5))),
X=np.column_stack((Y, Y)),
opts=dict(markers=False),
)
# line using WebGL
# heatmap
viz.heatmap(
X=np.outer(np.arange(1, 6), np.arange(1, 11)),
opts=dict(
columnnames=['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j'],
rownames=['y1', 'y2', 'y3', 'y4', 'y5'],
colormap='Electric',
)
)
# contour
x = np.tile(np.arange(1, 101), (100, 1))
y = x.transpose()
X = np.exp((((x - 50) ** 2) + ((y - 50) ** 2)) / -(20.0 ** 2))
viz.contour(X=X, opts=dict(colormap='Viridis',title='Contour plot'))
# surface
viz.surf(X=X, opts=dict(colormap='Hot'))
# line plots
viz.line(Y=np.random.rand(10), opts=dict(showlegend=True))
Y = np.linspace(-5, 5, 100)
viz.line(
Y=np.column_stack((Y * Y, np.sqrt(Y + 5))),
X=np.column_stack((Y, Y)),
opts=dict(markers=False),
)
# line using WebGL
class SampleHazardDetector(IDataReceived):
def __init__(self, tcpClient):
DEFAULT_PORT = 8097
DEFAULT_HOSTNAME = "http://localhost"
parser = argparse.ArgumentParser(description='Demo arguments')
parser.add_argument('-port',
metavar='port',
type=int,
default=DEFAULT_PORT,
help='port the visdom server is running on.')
parser.add_argument(
'-server',
metavar='server',
type=str,
default=DEFAULT_HOSTNAME,
help='Server address of the target to run the demo on.')
FLAGS = parser.parse_args()
self.viz = Visdom(port=FLAGS.port, server=FLAGS.server)
self.fake_point = False # whether import the boundaries of the fire from the xml
self.last_refresh = 0
self.new_points_detected = False
assert self.viz.check_connection(
timeout_seconds=3
), 'No connection could be formed quickly, remember to run \'visdom\' in the terminal'
self.__client = tcpClient
self.__uavsLoiter = {}
self.__estimatedHazardZone = Polygon()
self.filename = None
self.heatmap = np.zeros(
(SIZE_LAT, SIZE_LONG)) # the places where the fire was detected
self.last_detected = np.zeros(
(SIZE_LAT, SIZE_LONG)
) # the time at which the fire was last detected (or not) in that cell
self.smooth = np.zeros((SIZE_LAT, SIZE_LONG))
self.drones_status = {}
self.current_time = 0
self.force_recompute_times = []
self.communication_channel = protobuf.communication_client.CommunicationChannel(
)
# self.belief_model = BeliefModel()
def load_scenario(self, filename):
print("loading scenario")
self.scenario = minidom.parse(filename)
simulation_view_node = self.scenario.getElementsByTagName(
'SimulationView')
self.latitude = float(
simulation_view_node[0].attributes['Latitude'].value)
self.longitude = float(
simulation_view_node[0].attributes['Longitude'].value)
self.long_extent = float(
simulation_view_node[0].attributes['LongExtent'].value)
self.max_lat = self.latitude + self.long_extent
self.min_lat = self.latitude - self.long_extent
self.max_long = self.longitude + self.long_extent
self.min_long = self.longitude - self.long_extent
self.last_refresh = 0
self.new_points_detected = False
keep_in_zone = self.scenario.getElementsByTagName('KeepInZone')
############### KEEP IN ZONE ############################
if len(keep_in_zone
) > 0: # if there is a keep in zone then constraint to that
self.latitude = float(keep_in_zone[0].getElementsByTagName(
'Latitude')[0].childNodes[0].nodeValue)
self.longitude = float(keep_in_zone[0].getElementsByTagName(
'Longitude')[0].childNodes[0].nodeValue)
width = float(keep_in_zone[0].getElementsByTagName('Width')
[0].childNodes[0].nodeValue)
height = float(keep_in_zone[0].getElementsByTagName('Height')
[0].childNodes[0].nodeValue)
centerPoint = Location3D()
centerPoint.set_Latitude(self.latitude)
centerPoint.set_Longitude(self.longitude)
low_loc: Location3D = self.newLocation(centerPoint, height / -2,
width / -2)
high_loc: Location3D = self.newLocation(centerPoint, height / 2,
width / 2)
self.max_lat = max(low_loc.get_Latitude(), high_loc.get_Latitude())
self.max_long = max(low_loc.get_Longitude(),
high_loc.get_Longitude())
self.min_lat = min(low_loc.get_Latitude(), high_loc.get_Latitude())
self.min_long = min(low_loc.get_Longitude(),
high_loc.get_Longitude())
################# SCORING TIMES ######################
scoring_times = self.scenario.getElementsByTagName("Hack")
self.force_recompute_times = []
for scoring_time in scoring_times:
time = float(scoring_time.attributes['Time'].value)
self.force_recompute_times.append(time)
################FAKE POINTS
if self.fake_point:
self.fake_points()
print('scenario loaded')
def newLocation(self, loc: Location3D, dx, dy):
R_EARTHKM = 6372.8
latitude = loc.get_Latitude()
longitude = loc.get_Longitude()
new_latitude = latitude + (dy / (R_EARTHKM * 1000)) * (180 / math.pi)
new_longitude = longitude + (dx / (R_EARTHKM * 1000)) * (
180 / math.pi) / math.cos(latitude * math.pi / 180)
new_location = Location3D()
new_location.set_Latitude(new_latitude)
new_location.set_Longitude(new_longitude)
return new_location
def fake_points(self):
hazardZone_nodes = self.scenario.getElementsByTagName('HazardZone')
for hazardZone_node in hazardZone_nodes:
boundary_points = hazardZone_node.getElementsByTagName(
'Location3D')
for point_string in boundary_points:
latitude = float(
point_string.getElementsByTagName('Latitude')
[0].childNodes[0].nodeValue)
longitude = float(
point_string.getElementsByTagName('Longitude')
[0].childNodes[0].nodeValue)
location = Location3D()
location.set_Latitude(latitude)
location.set_Longitude(longitude)
lat, long = self.normalise_coordinates(location)
try:
self.heatmap[lat][long] = 1.0
self.last_detected[lat][
long] = self.current_time # the last registered time
except Exception as ex:
print(ex)
self.apply_smoothing()
self.update_visdom()
self.compute_and_send_estimate_hazardZone(True)
def dataReceived(self, lmcpObject):
try:
if isinstance(lmcpObject, SessionStatus):
print(f'time: {self.current_time} - session status'.ljust(100),
end='\r',
flush=True)
session_status: SessionStatus = lmcpObject
self.current_time = session_status.get_ScenarioTime(
) # save the last registered time to use in other parts of the code
state: SimulationStatusType.SimulationStatusType = session_status.get_State(
)
if state is SimulationStatusType.SimulationStatusType.Reset:
self.viz.close(win=HEATMAP)
# self.viz.close(win=VIZ_SCATTER)
self.viz.close(win=CONTOUR)
self.viz.close(win="Trajectory")
self.scenario = None
self.filename = None # scenario not ready
self.heatmap = np.zeros((SIZE_LAT, SIZE_LONG))
self.last_detected = np.zeros(
(SIZE_LAT, SIZE_LONG)
) # the time at which the fire was last detected (or not) in that cell
self.smooth = np.zeros((SIZE_LAT, SIZE_LONG))
self.drones_status = {}
self.force_recompute_times = []
# self.belief_model = BeliefModel()
if len(session_status.get_Parameters()) > 0:
param: KeyValuePair
for param in session_status.get_Parameters():
if param.Key == b'source':
self.filename = param.Value.decode("utf-8")
if self.filename is not None:
self.load_scenario(self.filename)
if self.filename is None: # only move on when the scenario is ready
return
self.current_time = session_status.ScenarioTime
# self.heatmap = self.update_heatmap(delta_time)
self.communication_channel.send(self.current_time,
self.heatmap, self.max_lat,
self.max_long, self.min_lat,
self.min_long)
self.compute_and_send_estimate_hazardZone()
if isinstance(lmcpObject, AirVehicleState):
# vehicleState: AirVehicleState = lmcpObject
# id = vehicleState.ID
# heading = vehicleState.Heading
# location: Location3D = vehicleState.get_Location()
# self.drones_status[id] = (heading, location)
# try:
# locations = []
# y = []
# markers = []
# for key in self.drones_status:
# location: Location3D
# heading: int
# heading, location = self.drones_status[key]
# locations.append([location.get_Longitude(), location.get_Latitude()])
# y.append([1])
# heading = (360.0 - heading) % 360.0 # counterclockwise to clockwise
# markers.append((3, 0, heading))
# self.viz.scatter(X=np.array(locations), Y=np.array(y), win=VIZ_SCATTER, opts=dict(
# xtickmin=self.min_long,
# xtickmax=self.max_long,
# ytickmin=self.min_lat,
# ytickmax=self.max_lat,
# marker=markers,
# markersize=10,
# linestyle='None'
# ))
# except BaseException as err:
# print('Skipped matplotlib example')
# print('Error message: ', err)
#
pass
if isinstance(lmcpObject, HazardZoneDetection):
print(
f'time: {self.current_time} - hazardzone detection'.ljust(
100),
end='\r',
flush=True)
hazardDetected: HazardZoneDetection = lmcpObject
# Get location where zone first detected
new_point = False
detectedLocation = hazardDetected.get_DetectedLocation()
lat, long = self.normalise_coordinates(detectedLocation)
detecting_id = hazardDetected.DetectingEnitiyID
try:
if self.heatmap[lat][long] != 1.0:
self.heatmap[lat][long] = 1.0
self.last_detected[lat][
long] = self.current_time # the last registered time
self.apply_smoothing()
self.new_points_detected = True
new_point = True
except Exception as ex:
print(ex)
# self.viz.contour(X=self.heatmap, win=self.contour, opts=dict(title='Contour plot'))
if new_point:
self.update_visdom()
except Exception as ex:
print(ex)
def update_visdom(self):
self.viz.heatmap(X=self.heatmap,
win=HEATMAP,
opts=dict(title='Heatmap plot'))
self.viz.contour(X=self.smooth,
win=CONTOUR,
opts=dict(title='Contour plot'))
def apply_smoothing(self):
self.smooth = ndimage.gaussian_filter(self.heatmap, 10)
pass
def normalise_coordinates(self, detectedLocation):
lat = int((detectedLocation.get_Latitude() - self.min_lat) /
(self.max_lat - self.min_lat) * self.heatmap.shape[0])
long = int((detectedLocation.get_Longitude() - self.min_long) /
(self.max_long - self.min_long) * self.heatmap.shape[1])
return lat, long
def denormalise_coordinates(self, lat, long):
norm_lat = (lat * (self.max_lat - self.min_lat) /
self.heatmap.shape[0]) + self.min_lat
norm_long = (long * (self.max_long - self.min_long) /
self.heatmap.shape[1]) + self.min_long
return norm_lat, norm_long
def update_heatmap(self, deltaTime):
"""
Updates the heatmap and returns a new heatmap
"""
'''gets the points in the heatmap where there is fire'''
def compute_coords(self):
coords = []
for row in range(self.heatmap.shape[0]):
for col in range(self.heatmap.shape[1]):
if self.heatmap[row][
col] > 0.95: # This could be a 1 check but we are pre-empting expanding this for decay.
coords.append((row, col))
return coords
def set_coord_as_hazard_zone(self, norm_poly):
self.__estimatedHazardZone.get_BoundaryPoints().clear()
for point in norm_poly.points:
denormalised_point = Location3D()
lat, long = self.denormalise_coordinates(point[0], point[1])
denormalised_point.set_Latitude(lat)
denormalised_point.set_Longitude(long)
# print(denormalised_point)
# point.set_Latitude(index.)
self.__estimatedHazardZone.get_BoundaryPoints().append(
denormalised_point)
def compute_and_send_estimate_hazardZone(self, force=False):
delta_time = self.current_time - self.last_refresh
if (len(self.force_recompute_times) > 0 and self.current_time >
(self.force_recompute_times[0] - 10) *
1000): #10 seconds before each scoring
self.force_recompute_times.pop(0) #remove first time
force = True #force recomputing
if (force or (delta_time > REFRESH_RATE and self.new_points_detected)):
self.last_refresh = self.current_time
self.new_points_detected = False
coords = self.compute_coords()
# Simple triangle
if len(coords) < 3:
return
try:
# Different options to create polygon.
norm_polys = calculate_polygons.calculate_polygons(coords)
# norm_poly = ConvexHull(coords)
# For now just get first polygon.
for index, poly in enumerate(norm_polys):
# norm_poly = norm_polys[0]
# self.belief_model.polygons.append(poly)
self.set_coord_as_hazard_zone(poly)
self.sendEstimateReport(index)
except Exception as ex:
raise ex
# print(ex)
def sendEstimateReport(self, id=1):
# Setting up the mission to send to the UAV
hazardZoneEstimateReport = HazardZoneEstimateReport()
hazardZoneEstimateReport.set_EstimatedZoneShape(
self.__estimatedHazardZone)
hazardZoneEstimateReport.set_UniqueTrackingID(id)
hazardZoneEstimateReport.set_EstimatedGrowthRate(0)
hazardZoneEstimateReport.set_PerceivedZoneType(HazardType.Fire)
hazardZoneEstimateReport.set_EstimatedZoneDirection(0)
hazardZoneEstimateReport.set_EstimatedZoneSpeed(0)
# Sending the Vehicle Action Command message to AMASE to be interpreted
self.__client.sendLMCPObject(hazardZoneEstimateReport)
# heatmap
viz.heatmap(
X=np.outer(np.arange(1, 6), np.arange(1, 11)),
opts=dict(
columnnames=['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j'],
rownames=['y1', 'y2', 'y3', 'y4', 'y5'],
colormap='Electric',
)
)
# contour
x = np.tile(np.arange(1, 101), (100, 1))
y = x.transpose()
X = np.exp((((x - 50) ** 2) + ((y - 50) ** 2)) / -(20.0 ** 2))
viz.contour(X=X, opts=dict(colormap='Viridis'))
# surface
viz.surf(X=X, opts=dict(colormap='Hot'))
# line plots
viz.line(Y=np.random.rand(10))
Y = np.linspace(-5, 5, 100)
viz.line(
Y=np.column_stack((Y * Y, np.sqrt(Y + 5))),
X=np.column_stack((Y, Y)),
opts=dict(markers=False),
)
# line updates
metavar='server',
type=str,
default=DEFAULT_HOSTNAME,
help='Server address of the target to run the demo on.')
FLAGS = parser.parse_args()
try:
viz = Visdom(port=FLAGS.port, server=FLAGS.server)
assert viz.check_connection(
timeout_seconds=3), 'No connection could be formed quickly'
# contour
x = np.tile(np.arange(1, 101), (100, 1))
y = x.transpose()
X = np.exp((((x - 50)**2) + ((y - 50)**2)) / -(20.0**2))
contour = viz.contour(
X=X, opts=dict(title='Contour plot')) #colormap='Viridis',
input('Waiting for input')
X = np.exp((((x - 10)**2) + ((y - 50)**2)) / -(20.0**2))
viz.contour(X=X, win=contour, opts=dict(title='Contour plot'))
input('Waiting for callbacks, press enter to quit.')
except BaseException as e:
print(
"The visdom experienced an exception while running: {}\n"
"The demo displays up-to-date functionality with the GitHub version, "
"which may not yet be pushed to pip. Please upgrade using "
"`pip install -e .` or `easy_install .`\n"
"If this does not resolve the problem, please open an issue on "
"our GitHub.".format(repr(e)))
print("=====================================================")
print(model)
print("=====================================================")
# interlace layers
# n = model.nlayers
# mem_debug = { k: v.reshape((n, int(v.shape[0]/n), v.shape[1])).transpose((1,0,2)).reshape((v.shape[0], v.shape[1])) for k,v in mem_debug.items() }
for k, v in mem_debug.items():
print(k, v.shape)
viz.contour(X=ppx,
opts=dict(colormap='Viridis',
title='DNC output',
ylabel='Time',
xlabel='Top k values',
markers=True,
fillarea=False))
viz.heatmap(mem_debug['memory'],
opts=dict(colormap='Viridis',
title='Memory',
ylabel='Controller Layer * Time',
xlabel='Number of memory cells * Size of Memory',
rownames=out_words,
xmin=0,
xmax=0.5))
viz.heatmap(mem_debug['link_matrix'],
opts=dict(
