conf = {
'min_time': fgconf.start_time,
'max_time': fgconf.start_time + fgconf.uav.max_flight_time,
'save_every': 0,
'save_improvements': False,
'discrete_elevation_interval': 0,
'vns': conf_vns['full']
}
conf['vns']['configuration_name'] = 'full'
####################################
# 1st PLAN
fire1 = fire.ignitions()
pl = Planner(env, fire1, [fgconf], conf)
pl.compute_plan()
sr_1 = pl.search_result
fmapper = FireMapper(env, fire1) # fire3 is the ground thruth
####################################
# 1st figure: show only the first plan
gdd = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(env.raster.combine(fire1),
frame=(0, 0))
gdd.add_extension(TrajectoryDisplayExtension, (None,), {})
# Draw expected fire contour
t_range = (sr_1.final_plan().trajectories()[0].start_time(0) - 120,
sr_1.final_plan().trajectories()[0].end_time(len(
sr_1.final_plan().trajectories()[0]) - 1) + 120)
gdd.draw_ignition_contour(geodata=fire1, time_range=t_range, cmap=matplotlib.cm.Reds)
def detail_case_figure(
wind_speed=5.,
wind_dir=0.) -> "fire_rs.geodata.display.GeoDataDisplay":
"""Plot a case with an small fire
we can make a zoom and observe a dubinswind path and observed cells."""
# Geographic environment (elevation, landcover, wind...)
wind = (wind_speed, wind_dir)
wind_xy = (wind[0] * np.cos(wind[1]), wind[0] * np.sin(wind[1]))
area = ((480000.0, 485000.0), (6210000.0, 6215000.0))
env = PlanningEnvironment(area,
wind_speed=10,
wind_dir=wind[1],
planning_elevation_mode='flat',
flat_altitude=0)
# Fire applied to the previous environment
ignition_points = [
TimedPoint(area[0][0] + 2000.0, area[1][0] + 2000.0, 0),
]
logging.info("Start of propagation")
fire = propagation.propagate_from_points(env, ignition_points, 180 * 60)
logging.info("End of propagation")
# Configure some flight
base_wp = Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.)
start_t = 120 * 60
uav = UAVConf.x8()
f_confs = [
FlightConf(uav, start_t,
Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.),
None, wind_xy),
]
conf = SAOP_conf(start_t, start_t + uav.max_flight_time)
fire1 = fire.ignitions()
pl = Planner(env, fire1, f_confs, conf)
pl.compute_plan()
sr_1 = pl.search_result
fmapper = FireMapper(env, fire1)
gdd = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
env.raster.combine(fire1), frame=(0, 0))
gdd.add_extension(TrajectoryDisplayExtension, (None, ), {})
gdd.axes.grid(True)
# Draw expected fire contour
t_range = (sr_1.final_plan().trajectories()[0].start_time(0) - 120,
sr_1.final_plan().trajectories()[0].end_time(
len(sr_1.final_plan().trajectories()[0]) - 1) + 120)
t_range_fire = (0, np.inf)
gdd.draw_ignition_contour(geodata=fire1,
time_range=t_range_fire,
cmap=matplotlib.cm.Reds)
# Draw observed fire
executed_path_1 = sr_1.final_plan().trajectories()[0].sampled_with_time(
step_size=10)
fmapper.observe(executed_path_1, pl.flights[0].uav)
gdd.TrajectoryDisplayExtension.draw_observation_map(
obs_map=fmapper.observed, layer='ignition', color='gray')
gdd.TrajectoryDisplayExtension.draw_observation_map(
obs_map=fmapper.firemap, layer='ignition', color='green')
# Draw trajectory
colors = ['blue', 'green', 'magenta']
labels = ["UAV " + str(i) for i in range(len(f_confs))]
for i in range(len(f_confs)):
plot_plan_trajectories(sr_1.final_plan(),
gdd,
trajectories=i,
draw_path=True,
draw_segments=False,
draw_flighttime_path=False,
colors=[colors[i]],
labels=None)
gdd.legend()
return gdd
def threefire_twouav_figure(
wind_speed=5.,
wind_dir=np.pi / 2) -> "fire_rs.geodata.display.GeoDataDisplay":
"""Plot a generic case with wind, multiple UAV from multiple bases, and multiple fire."""
# Geographic environment (elevation, landcover, wind...)
wind = (wind_speed, wind_dir)
area = ((480000.0, 485000.0), (6210000.0, 6215000.0))
env = PlanningEnvironment(area,
wind_speed=wind[0],
wind_dir=wind[1],
planning_elevation_mode='flat',
flat_altitude=0)
# Fire applied to the previous environment
ignition_points = [
TimedPoint(area[0][0] + 1000.0, area[1][0] + 1000.0, 0.),
TimedPoint(area[0][0] + 4000.0, area[1][0] + 2000.0, 0.),
TimedPoint(area[0][0] + 2000.0, area[1][0] + 3500.0, 0.)
]
logging.info("Start of propagation")
fire = propagation.propagate_from_points(env, ignition_points, 120 * 60)
logging.info("End of propagation")
# Configure some flight
start_t = 90 * 60
uav = UAVConf.x8()
uav.max_flight_time /= 3
f_confs = [
FlightConf(uav, start_t,
Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.),
None, wind),
FlightConf(uav, start_t,
Waypoint(area[0][0] + 100., area[1][0] + 100., 0., 0.),
None, wind),
]
conf = SAOP_conf(start_t, start_t + uav.max_flight_time)
fire1 = fire.ignitions()
pl = Planner(env, fire1, f_confs, conf)
pl.compute_plan()
sr_1 = pl.search_result
fmapper = FireMapper(env, fire1)
gdd = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
env.raster.combine(fire1), frame=(0, 0))
gdd.add_extension(TrajectoryDisplayExtension, (None, ), {})
# Draw expected fire contour
t_range = (sr_1.final_plan().trajectories()[0].start_time(0),
sr_1.final_plan().trajectories()[0].end_time(
len(sr_1.final_plan().trajectories()[0]) - 1))
t_range_fire = (0, np.inf)
gdd.draw_ignition_contour(geodata=fire1,
time_range=t_range_fire,
cmap=matplotlib.cm.Reds,
alpha=1)
# Draw observed fire
for i in range(len(f_confs)):
executed_path = sr_1.final_plan().trajectories()[i].sampled_with_time(
step_size=10)
fmapper.observe(executed_path, pl.flights[i].uav)
gdd.draw_ignition_shade(geodata=fmapper.firemap,
cmap=matplotlib.cm.summer,
vmin=t_range[0],
vmax=t_range[1],
with_colorbar=False)
# Draw trajectory
colors = ['blue', 'darkgreen', 'magenta']
labels = ["UAV " + str(i) for i in range(len(f_confs))]
for i in range(len(f_confs)):
plot_plan_trajectories(sr_1.final_plan(),
gdd,
trajectories=i,
draw_path=True,
draw_flighttime_path=False,
colors=[colors[i]],
labels=[labels[i]],
linestyles=['-'])
gdd.legend()
return gdd
def give_me_a_plan():
import numpy as np
import fire_rs.uav_planning as op
from fire_rs.firemodel import propagation
from fire_rs.geodata.geo_data import TimedPoint, GeoData
from fire_rs.planning.planning import FireMapper, FlightConf, Planner, PlanningEnvironment, \
UAVConf, Waypoint
from fire_rs.planning.display import TrajectoryDisplayExtension, plot_plan_trajectories
# Geographic environment (elevation, landcover, wind...)
wind = (10., np.pi / 4) # 10m/s = 36km/h
area = ((478500.0, 483500.0), (6210000.0, 6215000.0))
env = PlanningEnvironment(area,
wind_speed=wind[0],
wind_dir=wind[1],
planning_elevation_mode='flat',
flat_altitude=0)
# Fire applied to the previous environment
ignition_point = TimedPoint(area[0][0] + 2500.0, area[1][0] + 2100.0,
0)
fire = propagation.propagate_from_points(env, ignition_point,
120 * 60) # 60 minutes
# Configure some flight
base_wp_1 = Waypoint(area[0][1] - 150., area[1][1] - 100., 0., 0.)
start_t = 60 * 60 # 30 minutes after the ignition
uavconf = UAVConf.x8()
uavconf.max_flight_time = 30 * 60
fgconf_1 = FlightConf(uavconf, start_t, base_wp_1)
# Write down the desired VNS configuration
conf_vns = {
"full": {
"max_restarts":
5,
"max_time":
10.0,
"neighborhoods": [
{
"name":
"dubins-opt",
"max_trials":
100,
"generators": [{
"name": "MeanOrientationChangeGenerator"
}, {
"name":
"RandomOrientationChangeGenerator"
}, {
"name": "FlipOrientationChangeGenerator"
}]
},
{
"name": "one-insert",
"max_trials": 100,
"select_arbitrary_trajectory": True,
"select_arbitrary_position": False
},
]
}
}
conf = {
'min_time': fgconf_1.start_time,
'max_time': fgconf_1.start_time + fgconf_1.uav.max_flight_time,
'save_every': 1,
'save_improvements': True,
'discrete_elevation_interval': 0,
'vns': conf_vns['full']
}
conf['vns']['configuration_name'] = 'full'
####################################
# 1st PLAN
fire1 = fire.ignitions()
pl = Planner(env, fire1, [fgconf_1], conf)
pl.compute_plan()
return pl.search_result.final_plan()