def draw_target(self, target_coords):
for i, (startx, starty) in enumerate(target_coords):
stddraw.setPenColor(c=stddraw.BOOK_LIGHT_BLUE)
stddraw.filledSquare(startx, starty, 10)
stddraw.text(startx, starty + 25, "tar id:{}".format(i))
self.__reset_pen()
def __draw_drone_info(self, drone, cur_step):
stddraw.setPenRadius(0.0125)
stddraw.setPenColor(c=stddraw.BLACK)
# index
stddraw.text(drone.coords[0],
drone.coords[1] + (drone.com_range / 2.0),
"id: " + str(drone.identifier))
def draw_depot(self, depot):
coords = depot.coords
stddraw.setPenRadius(0.0100)
stddraw.setPenColor(c=stddraw.BLUE)
stddraw.point(coords[0], coords[1])
self.__draw_communication_range(depot)
self.__reset_pen()
# draw the buffer size
stddraw.setPenRadius(0.0125)
stddraw.setPenColor(c=stddraw.BLACK)
stddraw.text(depot.coords[0], depot.coords[1] + 100,
"pk: " + str(len(depot.buffer)))
def __validate_rew(self, drone, cur_step):
coords = drone.coords
stddraw.setPenColor(c=stddraw.RED)
# reward: relay found when doing broadcast
if drone.routing_algorithm.draw_rew_broad is not None:
r = drone.routing_algorithm.draw_rew_broad
self.keep_indictor["r.bro"].append((cur_step, drone, r))
drone.routing_algorithm.draw_rew_broad = None
# reward: packet expired
if drone.routing_algorithm.draw_rew_exp is not None:
r = drone.routing_algorithm.draw_rew_exp
self.keep_indictor["r.exp"].append((cur_step, drone, r))
drone.routing_algorithm.draw_rew_exp = None
# reward: packet delivered to depot
if drone.routing_algorithm.draw_rew_dep is not None:
r = drone.routing_algorithm.draw_rew_dep
self.keep_indictor["r.dep"].append((cur_step, drone, r))
drone.routing_algorithm.draw_rew_dep = None
# reward: every delta did move
if drone.routing_algorithm.draw_rew_area_move is not None:
r = drone.routing_algorithm.draw_rew_area_move
self.keep_indictor["r.dmo"].append((cur_step, drone, r))
drone.routing_algorithm.draw_rew_area_move = None
# reward: every delta did broad
if drone.routing_algorithm.draw_rew_area_broad is not None:
r = drone.routing_algorithm.draw_rew_area_broad
self.keep_indictor["r.dbr"].append((cur_step, drone, r))
drone.routing_algorithm.draw_rew_area_broad = None
for k in self.keep_indictor:
for ts, drone_in, r in self.keep_indictor[k]:
if drone == drone_in:
# red for all rewards except those evaluated every delta
if k in ["r.dmo", "r.dbr"]:
stddraw.setPenColor(c=stddraw.MAGENTA)
else:
stddraw.setPenColor(c=stddraw.RED)
stddraw.text(coords[0] + 30, coords[1] + 30,
k + " " + str(round(r, 3)))
if cur_step - ts >= 100:
self.keep_indictor[k].remove((ts, drone_in, r))
def draw_depot(self, depot):
coords = depot.coords
stddraw.setPenRadius(0.0100)
stddraw.setPenColor(c=stddraw.DARK_RED)
size_depot = 50
stddraw.filledPolygon([
coords[0] - (size_depot / 2), coords[0], coords[0] +
(size_depot / 2)
], [coords[1], coords[1] + size_depot, coords[1]])
self.__draw_communication_range(depot)
self.__reset_pen()
# draw the buffer size
stddraw.setPenRadius(0.0125)
stddraw.setPenColor(c=stddraw.BLACK)
stddraw.text(depot.coords[0], depot.coords[1] + 100,
"pk: " + str(len(depot.all_packets())))
def __grid_plot(self):
for i in range(0, self.width, self.simulator.prob_size_cell):
stddraw.setPenColor(c=stddraw.GRAY)
stddraw.setPenRadius(0.0025)
# x1, y1, x2, y2
stddraw.line(i, 0, i, self.height)
self.__reset_pen()
for j in range(0, self.height, self.simulator.prob_size_cell):
stddraw.setPenColor(c=stddraw.GRAY)
stddraw.setPenRadius(0.0025)
# x1, y1, x2, y2
stddraw.line(0, j, self.width, j)
self.__reset_pen()
for cell, cell_center in utilities.TraversedCells.all_centers(
self.width, self.height, self.simulator.prob_size_cell):
index_cell = int(cell[0])
pr = self.simulator.cell_prob_map[index_cell][2]
stddraw.text(cell_center[0], cell_center[1],
"pr-c: " + str(round(pr, 4)))
def draw_simulation_info(self, cur_step, max_steps):
TEXT_LEFT = 60
TEXT_TOP = 30
stddraw.text(TEXT_LEFT + 20, self.height - TEXT_TOP,
str(cur_step) + "/" + str(max_steps))
#if self.simulator.is_free_movement():
stddraw.text(TEXT_LEFT + 20, self.height - TEXT_TOP * 2,
"drone: " + str(self.simulator.selected_drone.identifier))
stddraw.text(TEXT_LEFT + 20, self.height - TEXT_TOP * 3,
"speed: " + str(self.simulator.selected_drone.speed))
stddraw.text(TEXT_LEFT + 20, self.height - TEXT_TOP * 4,
"angle: " + str(self.simulator.selected_drone.angle))
self.__reset_pen()
def __draw_drone_info(self, drone, cur_step):
stddraw.setPenRadius(0.0125)
stddraw.setPenColor(c=stddraw.BLACK)
# life time and speed
stddraw.text(drone.coords[0] - 50, drone.coords[1],
"buf: " + str(drone.buffer_length()))
# index
stddraw.text(drone.coords[0],
drone.coords[1] + (drone.communication_range / 2.0),
"id: " + str(drone.identifier))
if drone.buffer_length() > 0:
stddraw.text(
drone.coords[0],
drone.coords[1] - (drone.communication_range / 2.0),
"retr: " + str(drone.routing_algorithm.current_n_transmission))
# If the buffer is empty, do not show the retransmission counters since they are not updated
else:
stddraw.text(drone.coords[0],
drone.coords[1] - (drone.communication_range / 2.0),
"retr: -- \\ --")
def draw_simulation_info(self, cur_step, max_steps):
TEXT_LEFT = 60
TEXT_TOP = 20
stddraw.text(TEXT_LEFT + 20, self.height - TEXT_TOP,
str(cur_step) + "/" + str(max_steps))
self.__reset_pen()