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_blocks(self, drone_coo, target, size_cell, cells):
for coord in cells:
stddraw.setPenColor(c=stddraw.CYAN)
stddraw.filledRectangle(coord[0] * size_cell, coord[1] * size_cell,
size_cell, size_cell)
self.__reset_pen()
def draw_event(self, event):
coords = event.coords
stddraw.setPenRadius(0.0055)
stddraw.setPenColor(c=stddraw.RED)
stddraw.point(coords[0], coords[1])
stddraw.setPenColor()
self.__reset_pen()
def __borders_plot(self):
stddraw.setPenColor(c=stddraw.RED)
stddraw.setPenRadius(0.0025)
stddraw.line(0, 0, 0, self.width)
stddraw.line(0, 0, self.height, 0)
stddraw.line(0, self.width, self.height, self.width)
stddraw.line(self.height, 0, self.height, self.width)
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_obstacles(self):
""" Spawns random obstacle segments in the map. """
stddraw.setPenColor(c=stddraw.RED)
stddraw.setPenRadius(0.002)
for i in range(self.simulator.n_obstacles):
# generation is done only at the beginning
startx, starty, endx, endy = self.simulator.environment.obstacles[
i]
stddraw.line(startx, starty, endx, endy)
self.__reset_pen()
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 draw_drone(self, drone, cur_step):
coords = drone.coords
if drone.buffer_length() > 0: # change color when find a packet
stddraw.setPenColor(c=stddraw.GREEN)
else:
stddraw.setPenColor(c=stddraw.BLACK)
stddraw.setPenRadius(0.0055)
stddraw.point(coords[0], coords[1])
self.__draw_drone_info(drone, cur_step)
self.__draw_communication_range(drone)
self.__draw_sensing_range(drone)
self.__reset_pen()
if config.IS_SHOW_NEXT_TARGET_VEC:
self.__draw_next_target(drone.coords, drone.next_target())
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):
""" Plots the tassellation of the area."""
if not self.simulator.grid_cell_size > 0:
return
# stddraw.setPenColor(c=stddraw.RED)
# stddraw.setPenRadius(0.0025)
stddraw.setPenColor(c=stddraw.VERY_LIGHT_GRAY)
stddraw.setPenRadius(0.002)
for i in range(self.simulator.grid_cell_size, self.width,
self.simulator.grid_cell_size):
stddraw.line(i, 0, i, self.height)
for j in range(self.simulator.grid_cell_size, self.height,
self.simulator.grid_cell_size):
stddraw.line(0, j, self.width, j)
self.__reset_pen()
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_drone(self, drone, cur_step):
coords = drone.coords
if drone.buffer_length() > 0: # change color when find a packet
stddraw.setPenColor(c=stddraw.GREEN)
else:
stddraw.setPenColor(c=stddraw.BLACK)
stddraw.setPenRadius(0.0055)
stddraw.point(coords[0], coords[1])
self.__draw_drone_info(drone, cur_step)
self.__draw_communication_range(drone)
self.__draw_sensing_range(drone)
# the radar distance
self.__draw_distance_radar(coords[0], coords[1], drone.radar_range)
self.__reset_pen()
if config.PLOT_TRAJECTORY_NEXT_TARGET and not self.simulator.is_free_movement(
):
self.__draw_next_target(drone.coords, drone.next_target())
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_next_target(self, drone_coo, target):
stddraw.setPenRadius(0.0055)
stddraw.setPenColor(c=stddraw.BLUE)
stddraw.point(target[0], target[1])
stddraw.setPenColor()
self.__reset_pen()
stddraw.setPenColor(c=stddraw.BLUE)
stddraw.setPenRadius(0.0025)
stddraw.line(drone_coo[0], drone_coo[1], target[0], target[1])
self.__reset_pen()
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_sensing_range(self, body):
stddraw.setPenRadius(0.0015)
stddraw.setPenColor(c=stddraw.RED)
stddraw.circle(body.coords[0], body.coords[1], body.sensing_range)
stddraw.setPenColor(c=stddraw.BLACK)
def __reset_pen(self):
stddraw.setPenColor(c=stddraw.BLACK)
stddraw.setPenRadius(0.0055)
def __draw_communication_range(self, body):
stddraw.setPenRadius(0.0015)
stddraw.setPenColor(c=stddraw.BLUE)
stddraw.circle(body.coords[0], body.coords[1],
body.communication_range)
stddraw.setPenColor(c=stddraw.BLACK)
def __draw_distance_radar(self, x, y, radar_radius):
stddraw.setPenRadius(0.0015)
stddraw.setPenColor(c=stddraw.RED)
stddraw.circle(x, y, radar_radius)
stddraw.setPenColor(c=stddraw.BLACK)
def __channel_to_depot(self):
stddraw.setPenColor(c=stddraw.LIGHT_GRAY)
stddraw.setPenRadius(0.0025)
#x1, y1, x2, y2
stddraw.line(self.width / 2, self.height, self.width / 2, 0)
self.__reset_pen()
