def writeConf(robNum, taskNum, combConf):
robPosLst = generatePos(robNum, combConf[0])
robAbiLst = generateRate(robNum, combConf[2], robPosLst)
robPosLst = [(robPos.x, robPos.y) for robPos in robPosLst]
robVelLst = [1 for x in range(robNum)]
sum_robAbi = sum(robAbiLst)
taskPosLst = generatePos(taskNum, combConf[1])
taskRateLst = generateRate(taskNum, combConf[3], taskPosLst)
# deal with the unable instance
for i in range(len(taskRateLst)):
taskRate = taskRateLst[i]
while taskRate * robNum / 2 > sum_robAbi:
taskRate *= random.uniform(0.5, 1)
taskRateLst[i] = taskRate
taskPosLst = [(taskPos.x, taskPos.y) for taskPos in taskPosLst]
taskStateLst = [1 for i in range(taskNum)]
comp_threhold = 0.1
rob2tskDisMat = np.zeros((robNum, taskNum))
rob2tskDisLst = []
for i in range(robNum):
for j in range(taskNum):
d2 = float(EuclideanDis(robPosLst[i], taskPosLst[j]))
rob2tskDisMat[i][j] = d2
rob2tskDisLst.append(d2)
tskDisLst = []
tskDisMat = np.zeros((taskNum, taskNum))
for i in range(taskNum):
for j in range(taskNum):
d2 = EuclideanDis(taskPosLst[i], taskPosLst[j])
tskDisMat[i][j] = d2
tskDisLst.append(d2)
nameLst = []
nameLst.append(robNum)
nameLst.append(taskNum)
for disType in combConf:
nameLst.append(disType.name)
nameLst.append('thre' + str(comp_threhold))
nameLst = [str(x) for x in nameLst]
sep = '_'
sep = sep.join(nameLst)
insFileDir = '.\\benchmark\\'
insFileName = insFileDir + sep + 'MPDAins.dat'
f_ins = open(insFileName, 'w')
f_ins.write('time ' +
datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S") + '\n')
f_ins.write(sep + '\n')
rd.writeConf(f_ins, 'robNum', [robNum])
rd.writeConf(f_ins, 'taskNum', [taskNum])
# writeConf(f_ins,'max_cordx',[max_cordx])
# writeConf(f_ins,'max_cordy',[max_cordy])
# writeConf(f_ins,'max_vel',[max_vel])
# writeConf(f_ins,'max_abi',[max_abi])
# writeConf(f_ins,'max_rat',[max_rat])
# writeConf(f_ins,'max_state',[max_state])
rd.writeConf(f_ins, 'comp_threhold', [comp_threhold])
rd.writeConf(f_ins, 'rob2tskDis', rob2tskDisLst)
rd.writeConf(f_ins, 'tskDis', tskDisLst)
f_ins.write('\n')
rob_xLst = [x[0] for x in robPosLst]
rob_yLst = [y[1] for y in robPosLst]
rd.writeConf(f_ins, 'rob_x', rob_xLst)
rd.writeConf(f_ins, 'rob_y', rob_yLst)
rd.writeConf(f_ins, 'rob_vel', robVelLst)
rd.writeConf(f_ins, 'rob_abi', robAbiLst)
f_ins.write('\n')
tsk_xLst = [x[0] for x in taskPosLst]
tsk_yLst = [y[1] for y in taskPosLst]
rd.writeConf(f_ins, 'tsk_x', tsk_xLst)
rd.writeConf(f_ins, 'tsk_y', tsk_yLst)
rd.writeConf(f_ins, 'tsk_rat', taskRateLst)
rd.writeConf(f_ins, 'tsk_state', taskStateLst)
f_ins.close()
def saveEncode(self):
for i in range(self.robNum):
lst = list(self.encode[i][:])
rd.writeConf(self.deg2, str(i), lst)
self.deg2.flush()