def run():
global turns_of_change
global rate_of_change
global destination
time_swap = 1
MAP_RECORD = []
UAV_SET = []
MOVE_RECORD.clear()
global_map = (
np.multiply(np.random.randn(CONFIG['width'], CONFIG['height']), 255.0 /
(2.58 * 2)) + 127.5).astype(np.uint8)
observer_uav = UAV(-1, CONFIG_PATH, logger)
observer_uav.position[0] = 0
observer_uav.position[1] = 0
observer_uav.reset_destination(destination)
observer_uav.openPrint = False
observer_uav.weight_regression = False
MAP_RECORD.append(copy.deepcopy(global_map))
#initialization
for i in range(UAV_COUNTS):
current_uav = UAV(i + 1, CONFIG_PATH, logger)
current_uav.position[0] = 0
current_uav.position[1] = 0
current_uav.initialize_global_information(global_map)
current_uav.reset_destination(destination)
current_uav.openPrint = False
UAV_SET.append(current_uav)
while (len(UAV_SET) > 0 or observer_uav.working is True):
#print("**time_swap: %d**"%time_swap)
"""
change_flag = (random.random() <= turns_of_change)
if(change_flag is True):
#print("[Notice]global map info is changed")
element_count = CONFIG['width']*CONFIG['height']
change_count = int(element_count*rate_of_change)
for i in range(change_count):
number = random.randint(1,element_count)
x = (number - 1)//int(CONFIG['height'])
y = (number - 1)%int(CONFIG['height'])
global_map[x][y] = random.randint(0,255)
"""
MAP_RECORD.append(copy.deepcopy(global_map))
#print("[Notice]update neighborhood information")
for uav in UAV_SET:
uav.update_one_skip_neighbor(UAV_SET)
for uav in UAV_SET:
uav.update_two_skip_neighbor()
#print("[Notice]update environment information")
for uav in UAV_SET:
uav.update_local_environment_information(global_map, time_swap)
for uav in UAV_SET:
uav.update_environment_information()
#print("[Notice]into stradegy period")
for uav in UAV_SET:
if ((uav.uid - 1) // UAV_BATCH < time_swap):
uav.path_planning()
#print("[Notice]into working period")
for uav in UAV_SET:
if ((uav.uid - 1) // UAV_BATCH < time_swap):
uav.move()
for uav in UAV_SET:
if (uav.working is False):
MOVE_RECORD[uav.uid] = uav.move_record
UAV_SET.remove(uav)
if (observer_uav.working is True):
observer_uav.initialize_global_information(global_map)
observer_uav.path_planning()
observer_uav.move()
time_swap += 1
avg_cost = 0
for uid, record in MOVE_RECORD.items():
path_cost = 0
path_record = []
position_record = []
time_step = 0
for element in record:
time_step += 1
x = element[0]
y = element[1]
position_record.append([x, y])
if (len(path_record) > 0 and element[2] == path_record[-1][0]):
continue
path_record.append([element[2], time_step])
for element in path_record:
grid_x = (element[0] - 1) // int(CONFIG['height'])
grid_y = (element[0] - 1) % int(CONFIG['height'])
path_cost += MAP_RECORD[element[1] - 1][grid_x][grid_y]
avg_cost += path_cost
if (observer_uav.openPrint is True):
path = [element[0] for element in path_record]
print("uav_{}'s move record is {}".format(uid, position_record))
print("uav_{}'s move grid's record is {}".format(uid, path))
print("uav_%d's path cost is %d" % (uid, path_cost))
avg_cost //= len(MOVE_RECORD)
observer_path_cost = 0
observer_path_record = []
observer_position_record = []
time_step = 0
for element in observer_uav.move_record:
time_step += 1
x = element[0]
y = element[1]
observer_position_record.append([x, y])
if (len(observer_path_record) > 0
and element[2] == observer_path_record[-1][0]):
continue
observer_path_record.append([element[2], time_step])
for element in observer_path_record:
grid_x = (element[0] - 1) // int(CONFIG['height'])
grid_y = (element[0] - 1) % int(CONFIG['height'])
observer_path_cost += MAP_RECORD[element[1] - 1][grid_x][grid_y]
if (observer_uav.openPrint is True):
observer_path = [element[0] for element in observer_path_record]
print("uav_observer's move record is {}".format(
observer_position_record))
print("uav_observer's move grid's record is {}".format(observer_path))
print("uav_observer's path cost is %d" % (observer_path_cost))
print("average uav's path cost is %d" % (avg_cost))
extra_cost = float(avg_cost -
observer_path_cost) / float(observer_path_cost)
return extra_cost, observer_position_record
