def analyze_search_set(cost_by_ep,
seq_by_ep,
epochs,
ds_filename,
add_best=False,
add_good=False,
scen_filename=None,
overwrite=False):
best_idx = np.argmin(cost_by_ep)
best_dur, best_seqn = cost_by_ep.flatten()[best_idx], seq_by_ep.flatten(
)[best_idx]
print(f'min cost {best_dur:.3f} {best_seqn}')
good_range = 1.01
good_idx = cost_by_ep < best_dur * good_range
good_costs, good_seqns = cost_by_ep[good_idx], seq_by_ep[good_idx]
print(
f'found {len(good_costs)} solutions within {(good_range-1)*100:.2f}% of optimal'
)
print(f'{good_costs}')
if scen_filename is not None:
scen = pmu.Scenario(filename=scen_filename)
target_by_name = {str(_t.name): _t for _t in scen.targets}
def tg_seq_of_names(names):
target_names = [f'{_:d}' for _ in [int(_) for _ in names.split('-')]]
return [target_by_name[_tn] for _tn in target_names]
if add_best:
scen.add_solution('best', best_dur, tg_seq_of_names(best_seqn))
if add_good:
for _i, (_d, _seqn) in enumerate(zip(good_costs, good_seqns)):
scen.add_solution(f'best__{_i}', _d, tg_seq_of_names(_seqn))
if overwrite:
scen.save(scen_filename)
def test2(filename='../../data/scenario_60_6.yaml', ntest=100):
scen = pmu.Scenario(filename=filename)
s = pm_cpp_ext.Solver()
s.init(scen.drone, scen.targets)
for i in range(ntest):
seq = np.random.permutation(scen.targets).tolist()
_seq = [_s.name - 1 for _s in seq]
#print(_seq)
c_dur = s.run_sequence(_seq)
c_psis = s.debug()
py_drone, py_dur = pm.intercept_sequence_copy(scen.drone, seq)
#pdb.set_trace()
c_psis1 = [pmu.norm_angles_mpi_pi(_psi) for _psi in c_psis]
p_psis1 = [pmu.norm_angles_mpi_pi(_psi) for _psi in py_drone.psis]
#passed1 = np.allclose(c_psis1, p_psis1, rtol=1e-02, atol=1e-03) # rtol=1e-05, atol=1e-08
passed1 = np.allclose(c_psis1, p_psis1, rtol=1e-03,
atol=1e-08) # rtol=1e-05, atol=1e-08
#passed1 = np.allclose(c_psis, py_drone.psis, rtol=1e-05, atol=1e-06) # rtol=1e-05, atol=1e-08
passed2 = np.allclose(c_dur, py_dur, rtol=1e-05, atol=1e-06)
print(f'Test passed: {passed1} {passed2}')
if not passed1:
#print(f'{c_psis} \n{py_drone.psis}')
for i in range(nb_tg):
if abs(c_psis[i] - py_drone.psis[i]) > 1e-5:
print(f'failed idx {i} {c_psis1[i]} {p_psis1[i]}')
print([_s.name for _s in seq])
if not passed2:
print(f'durations (c/py): {c_dur}, {py_dur}')
def test1(filename='../../data/scenario_60_6.yaml'):
scen = pmu.Scenario(filename=filename)
s = pm_cpp_ext.Solver()
s.init(scen.drone, scen.targets)
seq = [scen.targets[17]]
#nb_t = len(scen.targets)
#seq = np.random.permutation(scen.targets).tolist()
_seq = [_s.name for _s in seq]
print(_seq)
s.run_sequence(_seq)
c_psis = s.debug()
#print(psis)
# if 0:
# psi, dt = pm.intercept_1(scen.drone, scen.targets[0])
# print(f'intercept seq py {psi}, {dt}')
# scen.drone.add_leg(dt, psi)
# psi, dt = pm.intercept_1(scen.drone, scen.targets[1])
# print(f'intercept seq py {psi}, {dt}')
# scen.drone.add_leg(dt, psi)
# else:
pm.intercept_sequence(scen.drone, scen.targets[:nb_t])
#print(f'dur: {scen.drone.flight_duration()}')
#print(f'{scen.drone.psis}')
#passed = np.allclose(psis, scen.drone.psis, rtol=1e-05, atol=1e-08)
passed = np.allclose(c_psis, scen.drone.psis, rtol=1e-05, atol=1e-06)
if not passed:
print(f'{s.debug()} \n{scen.drone.psis}')
#pdb.set_trace()
print(f'Test passed: {passed}')
def test5(filename='../../data/scen_small/scenario_9_6.yaml', nepoch=int(10)):
scen = pmu.Scenario(filename=filename)
s = pm_cpp_ext.Solver(scen.drone, scen.targets)
start_seq = np.random.permutation(scen.targets).tolist()
_start_seq = [_s.name - 1 for _s in start_seq]
_start = time.perf_counter()
best_dur, best_seq = s.search_sa(_start_seq, nepoch, T0=1., display=2)
_end = time.perf_counter()
dt = _end - _start
print(f'search took {dt:.0f}s best dur {best_dur:.3f}')
def test11(filename='../../data/scen_120/1.yaml'
): #'../../data/scenario_7820_2_2.yaml'):
scen = pmu.Scenario(filename=filename)
s = pm_cpp_ext.Solver(scen.drone, scen.targets)
for i in range(1):
#seq = np.random.permutation(scen.targets).tolist()#[:nb_tg]
seq = scen.targets
_seq = [_s.name - 1 for _s in seq]
c_dur = s.run_sequence(_seq)
c_psis = s.debug()
print(f'intercepted {len(c_psis)} targets ({c_dur} s)')
def create_search_set(scen_filename,
nb_searches,
epochs,
cache_filename,
method,
T0=2.):
time_tags = []
time_tags.append(time.perf_counter())
scen = pmu.Scenario(filename=scen_filename)
cost_by_ep, seq_by_ep = [], []
for _ep in epochs:
print(f'-{_ep:e} epochs')
_drones, _seqs, _costs = [], [], []
for i in range(nb_searches):
if method == 'sa':
_drone, _seq = pm_sa.search(scen.drone,
scen.targets,
epochs=_ep,
display=0)
elif method == 'sa2':
_drone, _seq = pm_sa.search(scen.drone,
scen.targets,
epochs=_ep,
display=0,
T0=T0,
use_native=True)
elif method == 'sa3':
_drone, _seq = pm_nc.search_sa(scen.drone,
scen.targets,
start_seq=None,
nepoch=_ep,
display=0,
T0=T0)
_drones.append(_drone)
_seqs.append(_seq)
_costs.append(_drone.flight_duration())
_display_run(_ep, i, nb_searches, _costs)
cost_by_ep.append(_costs)
seq_by_ep.append([pmu.format_seq(_s) for _s in _seqs])
time_tags.append(time.perf_counter())
_display_ep(_ep, _costs, time_tags[-1] - time_tags[-2])
print(
f'computed search set in {datetime.timedelta(seconds=time_tags[-1]-time_tags[0])}'
)
print(f'saving to {cache_filename}')
np.savez(cache_filename,
cost_by_ep=cost_by_ep,
seq_by_ep=seq_by_ep,
epochs=epochs)
return np.asarray(cost_by_ep), np.asarray(seq_by_ep), np.asarray(epochs)
def test4(filename='../../data/scenario_9_6.yaml'):
scen = pmu.Scenario(filename=filename)
s = pm_cpp_ext.Solver()
s.init(scen.drone, scen.targets)
n_targ = len(scen.targets)
n_seq = np.math.factorial(n_targ)
print(f'searching in all {n_targ} targets permutations ({n_seq:.2e})')
_start = time.perf_counter()
best_cost, best_seq = s.run_exhaustive()
_end = time.perf_counter()
dt = _end - _start
ips = n_seq / dt
print(f'best cost: {best_cost}')
print(best_seq)
print(f'search in C took {dt:.3f}s ({ips:.2e} cost_evals/s)')
def test22(filename='../../data/scenario_60_6.yaml'):
#seq = [30, 47, 12, 20, 39, 36, 28, 29, 18, 2, 41, 24, 35, 54, 58, 23, 53, 11, 4, 15, 10, 9, 34, 43, 44, 45, 42, 14, 37, 17, 19, 52, 8, 33, 48, 27, 56, 5, 55, 21, 59, 26, 40, 50, 49, 7, 22, 31, 38, 25, 57, 32, 3, 60, 6, 13, 51, 46, 16, 1]
seq = [
16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 60, 59, 58, 57,
56, 55, 54, 53, 52, 51, 50, 49, 48, 47, 46, 45, 44, 43, 42, 41, 40, 39,
38, 37, 36, 35, 34, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21,
20, 19, 18, 17
]
scen = pmu.Scenario(filename=filename)
s = pm_cpp_ext.Solver()
s.init(scen.drone, scen.targets)
py_seq = [scen.targets[_n - 1] for _n in seq]
py_drone, py_dur = pm.intercept_sequence_copy(scen.drone, py_seq)
print(f'{py_dur}')
c_drone, c_dur = s.intercept_sequence_copy(scen.drone, py_seq)
print(f'{c_dur}')
pdb.set_trace()
def test3(filename='../../data/scen_120/9.yaml',
ntest=1000): # scen_7820/9.yaml
scen = pmu.Scenario(filename=filename)
s = pm_cpp_ext.Solver(scen.drone, scen.targets)
seq = [_s.name - 1 for _s in scen.targets]
#pdb.set_trace()
_start1 = time.perf_counter()
for i in range(ntest):
s.run_sequence(seq)
_end1 = time.perf_counter()
_dt1 = _end1 - _start1
print(f'{ntest} evaluations in C took {_dt1:.3f} s')
_start2 = time.perf_counter()
for i in range(ntest):
pm.intercept_sequence(scen.drone, scen.targets)
scen.drone.clear_traj()
_end2 = time.perf_counter()
_dt2 = _end2 - _start2
print(f'{ntest} evaluations in Python took {_dt2:.3f} s')
print(f'improvement {_dt2/_dt1:.1f}')
def sample_solutions(filenames, nb_samples=int(1e5), force_recompute=False, use_native=True, show_2d=True):
_scens = [pmu.Scenario(filename=_f) for _f in filenames]
_durs = []
for _scen in _scens:
cache_filename = f'/tmp/samples__{_scen.name}__{nb_samples}.npz'
if force_recompute or not os.path.exists(cache_filename):
print(f'sampling and storing to {cache_filename}')
solver = pm_cpp_ext.Solver(_scen.drone, _scen.targets) if use_native else pm
_durs.append([solver.intercept_sequence_copy(_scen.drone, np.random.permutation(_scen.targets).tolist())[1] for _i in range(nb_samples)])
np.savez(cache_filename, durs=_durs[-1])
else:
print(f'loading samples from {cache_filename}')
_durs.append(np.load(cache_filename)['durs'])
nb_scen = len(filenames)
nr, nc = nb_scen, 2 if show_2d else 1
fig = plt.figure(tight_layout=True, figsize=[6.40*nc, 2.56*nr]);
fig.canvas.set_window_title("Random Sampling of Solutions")
gs = fig.add_gridspec(nr, 3)
axes_2d = [fig.add_subplot(gs[_i,:1]) for _i in range(nb_scen)]
axes_histo = [fig.add_subplot(gs[_i,1:]) for _i in range(nb_scen)]
np.set_printoptions(precision=3)
for ax, _d, _scen in zip(axes_histo, _durs, _scens):
_dens, _, _ = ax.hist(_d, label=f'random sampling ({nb_samples:.0e} samples)', density=True)
for sol_name in ['best', 'hc', 'optimal']:
try:
_name, _dur, _seq = _scen.solution_by_name(sol_name)
#ax.annotate(f'{sol_name}', xy=(_dur, 1))#, xytext=(3, 1.5), arrowprops=dict(facecolor='black', shrink=0.05),)
ax.plot([_dur, _dur],[0, np.max(_dens)*0.8], label=f'{sol_name}: {_dur:.3f}s', alpha=0.6, linewidth=2)
except KeyError: pass
pmu.decorate(ax, _fmt_mmmm2(_d), xlab='time in s', legend=True)
for ax, _scen in zip(axes_2d, _scens):
pmu.plot_scenario(_scen, title=f'scenario: {_scen.name}', annotate=False, fig=fig, ax=ax)
def plot_search_chronograms(filename, epoch, nrun, force=False):
scen = pmu.Scenario(filename=filename)
# set of quasi lin
#Ts = [lambda i: pm_sa._f1(2, epoch/10, 1e-2, 9*epoch/10, i)]*5
# set of quasi lin
#Ts = [lambda i: pm_sa._f1(5, epoch/10, 1e-2, 9*epoch/10, i), lambda i: pm_sa._f1(2, epoch/10, 1e-2, 9*epoch/10, i), lambda i: pm_sa._f1(1, epoch/10, 1e-2, 9*epoch/10, i)]
#Ts = [lambda i: pm_sa._f1(2, epoch/10, 1e-2, 9*epoch/10, i), lambda i: pm_sa._f1(1, epoch/10, 1e-2, 9*epoch/10, i)]
# lin vs quasi lin
#Ts = [lambda i: pm_sa._aff(2, 1e-2, epoch, i), lambda i: pm_sa._f1(2, epoch/10, 1e-2, 9*epoch/10, i), lambda i: pm_sa._f1(2, 0, 1e-2, 9*epoch/10, i)]
#Ts = [lambda i: pm_sa._aff(2, 0.01, epoch, i), lambda i: pm_sa._f1(2, epoch/10, 1e-2, 9*epoch/10, i)]
##Ts = [lambda i: pm_sa._aff(1, 1e-2, epoch, i), lambda i: pm_sa._f1(1, 0, 1e-2, 0.9*epoch, i), lambda i: pm_sa._f1(1, 0, 1e-2, 0.8*epoch, i)]
# set of lin
#Ts = [(lambda i: pm_sa._f1(T0, 0., 1e-2, 0.8*epoch, i)) for T0 in [5, 2, 1,]]
Ts = [lambda i: pm_sa._f1(1, 0., 1e-2, 0.8*epoch, i), lambda i: pm_sa._f1(2, 0., 1e-2, 0.8*epoch, i), lambda i: pm_sa._f1(3, 0., 1e-2, 0.8*epoch, i), lambda i: pm_sa._f1(5, 0., 1e-2, 0.8*epoch, i)]
#Ts = [lambda i: pm_sa._aff(5, 1e-2, epoch, i), lambda i: pm_sa._aff(2, 1e-2, epoch, i), lambda i: pm_sa._aff(1, 1e-2, epoch, i)]
# step
#Ts = [lambda i: pm_sa._aff(1, 1e-2, epoch, i), lambda i: pm_sa._step(1, 1e-2, epoch/2, i)]
# 2 aff
#Ts = [lambda i: pm_sa._2aff(1, 1e-2, epoch/2, 0.5, 1e-2, epoch, i)]
#Ts = [lambda i: pm_sa._aff(1, 1e-2, epoch, i), lambda i: pm_sa._2aff(1, 1e-2, 2*epoch/3, 0.25, 1e-2, epoch, i), lambda i: pm_sa._f1(1, 0, 1e-2, 2*epoch/3, i)]
# lin vs exp
#Ts = [lambda i: pm_sa._aff(2, 0.01, epoch, i), lambda i: pm_sa._exp(2, epoch/2, i), lambda i: pm_sa._exp(2, epoch/3, i)]
# default lin
#Ts = [lambda i: pm_sa._aff(1, 1e-2, epoch, i)]
cache_filename = f'/tmp/psc_{scen.name}_{epoch}.npz'
if force or not os.path.exists(cache_filename):
print(f'running optimizations and storing to {cache_filename} ({nrun} runs of {epoch} epochs)')
res = []
for _i, Tf in enumerate(Ts):
res.append([pm_sa.search(scen.drone, scen.targets, epochs=epoch, debug=True, Tf=Tf, display=0, use_native=True) for _nr in range(nrun)])
_print_summary(_i, [_r[0].flight_duration() for _r in res[-1]])
np.savez(cache_filename, res=res)#, allow_pickle=True)
else:
print(f'loading optimization results from {cache_filename}')
_d = np.load(cache_filename, allow_pickle=True)
res = _d['res']
costs_by_runs = [[_l[0].flight_duration() for _l in _r] for _r in res ]
fig = plt.figure(constrained_layout=True, figsize=[10.24, 5.12])#, tight_layout=True)
fig.canvas.set_window_title(filename)
gs = fig.add_gridspec(max(3, len(Ts)), 3)
ax1 = fig.add_subplot(gs[0, :-1])
ax2 = fig.add_subplot(gs[1, :-1], sharex=ax1)
ax3 = fig.add_subplot(gs[2, :-1], sharex=ax1)
axes_chrono = [fig.add_subplot(gs[0,-1])]
for _i in range(1, len(Ts)):
axes_chrono.append(fig.add_subplot(gs[_i,-1], sharex=axes_chrono[0], sharey=axes_chrono[0]))
colors_by_cases = []
_start = 0#int(9./10*epoch)
for k, (Tf, _res) in enumerate(zip(Ts, res)):
for _nr, (best_drone, best_seq, all_durs, kept_durs, Paccept, max_dur) in enumerate(_res):
if _nr==0:
_l = ax1.plot(kept_durs[_start:], label=f'{k}', alpha=0.6)
colors_by_cases.append(_l[0].get_color())
ax1.plot(max_dur[_start:], color='black', alpha=0.4)
ax3.plot([Ts[k](i) for i in range(_start, epoch)], label=f'{k}')
else:
ax1.plot(kept_durs[_start:], color=colors_by_cases[-1], alpha=0.6)
ax1.plot(max_dur[_start:], color='black', alpha=0.4)
ax2.plot(Paccept[_start:], color=colors_by_cases[-1], alpha=0.4)#, label=f'{k}')
#pdb.set_trace()
ylim = (0, 200)
pmu.decorate(ax1, 'Cost', ylab='s', legend=True, ylim=ylim)
pmu.decorate(ax2, 'Paccept')#, legend=True)
pmu.decorate(ax3, 'Temperature', xlab='episode', ylab='s', legend=True)
#plt.figure()
#fig = plt.gcf(); fig.canvas.set_window_title(filename)
#axes = fig.subplots(len(Ts),1, sharex=True, sharey=True, squeeze=False)
for _i, (_c, _ax, _co) in enumerate(zip(costs_by_runs, axes_chrono, colors_by_cases)):
_ax.hist(_c, alpha=0.6, color=_co)
pmu.decorate(_ax, f'Final cost case {_i}', xlab='time in s')
def plot_scenarios(idxs, sol_name):
_fs = [pmu.ScenarioFactory.filename(idx) for idx in idxs]
filenames = [pmu.ressource('data/' + _f) for _f in _fs]
scens = [pmu.Scenario(filename=_f) for _f in filenames]
pmu.plot_scenarios(scens, _fs, sol_name)
plt.show()
