def report_result(self, result, tq):
# 扣掉特數項 -1
preturn_time = []
for t in result['return_time']:
if t != -1:
preturn_time.append(t)
result_text = ''
result_text += ('Total time:%d\n' % tq)
result_text += ('return time:%s\n' % str(result['return_time']))
result_text += ('time sum:%d\n' % sum(preturn_time))
if (len(preturn_time) != 0):
result_text += ('mean time:%s\n' %
str(sum(preturn_time) / len(preturn_time)))
result_text += ('risk:%s\n' % str(result['risk']))
result_text += ('risk sum:%s\n' % str(sum(result['risk'])))
result_text += ('mean risk:%s\n' %
str(sum(result['risk']) / len(result['risk'])))
result_text += ('max risk:%s\n' % str(max(result['risk'])))
result_text += ('complete target num:%d\n' %
(len(result['mission_complete'])))
result_text += self.intp_out_range(max(result['return_time']),
result['out_range'])
print(result_text)
self.env_detecter.reset()
# write in a result.txt and traj
with open('result.txt', 'w') as f:
f.write(result_text)
#write traj json
M_list.write(self.traj, target='traj.json')
def set_data(self):
temp = self.env_data['M_list'][:]
if (type(self.env_data['M_list'][0]) != list):
self.env_data['M_list'] = M_list.M_lists_as_lists(
self.env_data['M_list'])
M_list.write(self.env_data)
self.env_data['M_list'] = temp
def __init__(self, replan=False):
self.m = M.map_gen()
self.m.gen()
# record the time when UAV out of 500m constrain
# not load the pre planning
if (self.m.read is False or replan is True):
Mlist = self.mission_allocation()
self.m.M_list = M_list.as_M_lists(Mlist)
self.m.set_env_data()
self.m.set_data()
self.num = self.m.num
self.v = None
def set_by_data(self, ):
env_data = self.env_data
env_data['M_list'] = M_list.as_M_lists(env_data['M_list'])
self.forbidden_area_vertices = env_data['Forbid']
self.forbid_form()
self.threaten = env_data['Threat']
self.target = env_data['Target']
self.M_list = env_data['M_list']
self.fail = {
'index': env_data['fail_index'],
'time': env_data['fail_time']
}
self.thr_move = {
'to': env_data['thr_move_to'],
'count': env_data['thr_move_count']
}
def checkCallBack(self):
value = self.listb.get(self.listb.curselection())
if value not in self.li:
return
elif value == 'gen_new_map':
global map
del map
map = MAP.map_gen()
map.gen(replan = True)
Mlist = self.u_instance().mission_allocation()
map.M_list = M_list.as_M_list_instances(Mlist)
map.set_env_data()
self.pgraph.redraw()
return
# module gui can't call
# elif value == 'run_simulation':
# self.u_instance().run(visual = True)
self.showcwindow(value)
def gen(self):
self.env_data = M_list.read()
if (Fixed_map and self.env_data is not False):
self.set_by_data()
self.read = True
else:
self.gen_forbidden()
# set up map generator
self.g = self.rand_map()
self.gen_threaten()
self.gen_target()
self.rand_auto_fail()
self.rand_thr_move()
self.read = False
if len(self.thr_move['to']) != self.datanum['target'][1]:
self.rand_thr_move()
if (print_data):
# forvi
print('Forbid:' + str(self.forbidden_area_vertices))
print('threaten:' + str(self.threaten))
print('target:' + str(self.target))
def show_traj(self):
#read a python traj
self.traj = M_list.read(target='traj.json')
self.v = visualization.show_visual(self.m, self.mov)
self.v.show_traj(self.traj)