From 9be0d68336fcb4243987a34b8035e545adbc32df Mon Sep 17 00:00:00 2001 From: Jonas Boysen Date: Tue, 19 Nov 2024 09:38:51 +0100 Subject: [PATCH] add new changes for lecture --- .../big_field/field.json | 1 + .../big_field/field_info.json | 1 + .../big_field/node_link_data.json | 1 + AgRobotSwarmForOptimization/field/field.json | 1 + .../field/field_info.json | 1 + .../field/node_link_data.json | 1 + .../field_optimization.ipynb | 56 ++ .../field_optimization.py | 848 ++++++++++++++++++ .../field_optimization_filled_in.ipynb | 75 ++ .../graph/node_link_data435o.bin | Bin 0 -> 986 bytes .../graph_optimization.ipynb | 64 ++ .../graph_optimization.py | 720 +++++++++++++++ .../graph_optimization_filled_in.ipynb | 73 ++ AgRobotSwarmForOptimization/sprites/barn.png | Bin 0 -> 513175 bytes .../sprites/barn_8.png | Bin 0 -> 5472 bytes AgRobotSwarmForOptimization/sprites/straw.png | Bin 0 -> 86696 bytes .../sprites/straw_8.png | Bin 0 -> 1154 bytes 17 files changed, 1842 insertions(+) create mode 100644 AgRobotSwarmForOptimization/big_field/field.json create mode 100644 AgRobotSwarmForOptimization/big_field/field_info.json create mode 100644 AgRobotSwarmForOptimization/big_field/node_link_data.json create mode 100644 AgRobotSwarmForOptimization/field/field.json create mode 100644 AgRobotSwarmForOptimization/field/field_info.json create mode 100644 AgRobotSwarmForOptimization/field/node_link_data.json create mode 100644 AgRobotSwarmForOptimization/field_optimization.ipynb create mode 100644 AgRobotSwarmForOptimization/field_optimization.py create mode 100644 AgRobotSwarmForOptimization/field_optimization_filled_in.ipynb create mode 100644 AgRobotSwarmForOptimization/graph/node_link_data435o.bin create mode 100644 AgRobotSwarmForOptimization/graph_optimization.ipynb create mode 100644 AgRobotSwarmForOptimization/graph_optimization.py create mode 100644 AgRobotSwarmForOptimization/graph_optimization_filled_in.ipynb create mode 100644 AgRobotSwarmForOptimization/sprites/barn.png create mode 100644 AgRobotSwarmForOptimization/sprites/barn_8.png create mode 100644 AgRobotSwarmForOptimization/sprites/straw.png create mode 100644 AgRobotSwarmForOptimization/sprites/straw_8.png diff --git a/AgRobotSwarmForOptimization/big_field/field.json b/AgRobotSwarmForOptimization/big_field/field.json new file mode 100644 index 0000000..383e712 --- /dev/null +++ b/AgRobotSwarmForOptimization/big_field/field.json @@ -0,0 +1 @@ +{"field_border": [[5.327715955867271, 34.2506624952682, 17.350262697554697, 12.68042153061237, -24.297359902737345, -26.298514794572583, -15.958453002980875, 5.327715955867271], [26.956546463310747, 2.645878587709219, -13.53780166267645, -30.541687199975073, -7.74091026849711, 18.424599771217043, 18.82455339700305, 26.956546463310747]]} \ No newline at end of file diff --git a/AgRobotSwarmForOptimization/big_field/field_info.json b/AgRobotSwarmForOptimization/big_field/field_info.json new file mode 100644 index 0000000..a4c6c8b --- /dev/null +++ b/AgRobotSwarmForOptimization/big_field/field_info.json @@ -0,0 +1 @@ +{"robot_width": 1, "operating_width": 1.5, "cruise_speed": 2.0, "min_turn_radius": 1.0, "linear_curv_change": 0.5, "headland_n_working_width": 5, "swaths_cost_function": "number_of_swaths", "generate_random_field": "True", "random_field_n_sides": 7, "random_field_area": 2000, "random_field_seed": 948541} \ No newline at end of file diff --git a/AgRobotSwarmForOptimization/big_field/node_link_data.json b/AgRobotSwarmForOptimization/big_field/node_link_data.json new file mode 100644 index 0000000..bf49fff --- /dev/null +++ b/AgRobotSwarmForOptimization/big_field/node_link_data.json @@ -0,0 +1 @@ +{"directed": true, "multigraph": false, "graph": {}, "nodes": [{"pos": [4.6043217673727925, 22.66585036844227, 2.829871922781431], "border": [0, 1], "id": "clock_nav_0"}, {"pos": [4.6043217673727925, 22.66585036844227, -0.31172073080836216], "border": [0, 6], "id": "anticlock_nav_0"}, 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field_optimization import Simulation, FieldVisualizer, IPyUI\n", + "\n", + "def random_search_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " terminate = True\n", + " return current_state, terminate\n", + "\n", + "def stochastic_hc_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " terminate = True\n", + " return current_state, terminate\n", + "\n", + "def t_schedule(t: int) -> float:\n", + " t_max = 100\n", + " return t_max - t\n", + "\n", + "MAX_ITERATIONS = 50\n", + "\n", + "optimize_sim = Simulation(field_save_dir=\"field\", t_schedule=t_schedule, stochastic_hc=stochastic_hc_successor, random_search=random_search_successor)\n", + "optimize_sim.prepare_complete_state_representation()\n", + "field_vis = FieldVisualizer(optimize_sim, canvas_size=600)\n", + "ui = IPyUI(field_vis=field_vis, optimize_sim=optimize_sim, max_iterations=MAX_ITERATIONS)\n", + "ui.optimization_ui()\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.13" + }, + "orig_nbformat": 4 + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/AgRobotSwarmForOptimization/field_optimization.py b/AgRobotSwarmForOptimization/field_optimization.py new file mode 100644 index 0000000..1c91e2b --- /dev/null +++ b/AgRobotSwarmForOptimization/field_optimization.py @@ -0,0 +1,848 @@ +import json +import networkx as nx +import numpy as np +import random +import itertools + +from ipycanvas import Canvas +from os.path import join +from natsort import natsorted +from matplotlib import pyplot as plt +import ipywidgets as widgets +from IPython.display import display + + +class Simulation: + def __init__( + self, + field_save_dir: str, + t_schedule: callable, + random_search: callable, + stochastic_hc: callable, + ): + self.path = [] + self.state = [] + self.last_state = [] + self.cost_history = [] + self.best_state = [] + self.best_state_cost = 0 + self.best_path = [] + self._load_field(save_dir=field_save_dir) + self.neighbor_fig = plt.figure() + self.neighbor_ax = self.neighbor_fig.add_subplot() + self.t_schedule = t_schedule + self.random_search = random_search + self.stochastic_hc = stochastic_hc + + def _load_field(self, save_dir: str): + with open(join(save_dir, "node_link_data.json"), "r") as f: + node_link_data = json.load(f) + self.sim_graph: nx.DiGraph = nx.node_link_graph(node_link_data) + + with open(join(save_dir, "field_info.json"), "r") as f: + self.field_info_dict = json.load(f) + + with open(join(save_dir, "field.json"), "r") as f: + field_dict = json.load(f) + + self._prepare_field_for_sim(field_dict) + + def _prepare_field_for_sim(self, field_dict: dict): + # get border from field dict + self.field_border = field_dict["field_border"] + # save logistic point names + n_logistic_points = 1 + # n_logistic_points = self.logistic_point_attributes["quantity"] + self.logistic_point_names = [] + for i in range(n_logistic_points): + self.logistic_point_names.append(f"logistic{i}") + + # Create sub_graph for navigation only on headlands + all_edges_list = list(self.sim_graph.edges) + headland_edges = [ + e for e in all_edges_list if self.sim_graph.edges()[e]["headland"] == True + ] + self.headland_subgraph = self.sim_graph.edge_subgraph(headland_edges) + # init global info of free rows + self.not_seeded_and_targeted_rows = [ + e + for e in all_edges_list + if not self.sim_graph.edges()[e]["seeded"] + and not self.sim_graph.edges()[e]["headland"] == True + and not self.sim_graph.edges()[e]["targeted"] + ] + + # simplify graph + simple_graph = nx.DiGraph() + for node in list(self.sim_graph.nodes()): + for edge in self.sim_graph.edges(node): + simple_edge = ( + self.simplify_node_name(edge[0]), + self.simplify_node_name(edge[1]), + ) + if simple_edge in list(simple_graph.edges()): + continue + simple_graph.add_node( + simple_edge[0], pos=self.sim_graph.nodes()[node]["pos"] + ) + path_x = self.sim_graph.edges()[edge]["path_x"] + path_y = self.sim_graph.edges()[edge]["path_y"] + dist = self.sim_graph.edges()[edge]["dist"] + headland = self.sim_graph.edges()[edge]["headland"] + simple_graph.add_edge( + *simple_edge, + dist=dist, + headland=headland, + path_x=path_x, + path_y=path_y, + ) + self.sim_graph = simple_graph + + def prepare_complete_state_representation(self): + # create headland subgraph + headland_edges = [ + e + for e in list(self.sim_graph.edges()) + if self.sim_graph.edges[e]["headland"] + ] + self.headland_subgraph = nx.edge_subgraph(self.sim_graph, headland_edges) + + # create solution representation + self.rows = [] + for edge in list(self.sim_graph.edges()): + if not self.sim_graph.edges()[edge]["headland"]: + if not int(edge[0]) % 2 == 0: + self.rows.append((edge, (edge[1], edge[0]))) + + def create_random_state(self) -> list[str, str]: + state = [] + random.shuffle(self.rows) + for row in self.rows: + state.append(random.choice(row)) + return state + + def find_closest_path( + self, origin: str, edge: tuple[str, str] + ) -> tuple[tuple[str, str], float, list]: + dist_to_row_start_0 = nx.shortest_path_length( + G=self.headland_subgraph, + source=origin, + target=edge[0], + weight="dist", + ) + dist_to_row_start_1 = nx.shortest_path_length( + G=self.headland_subgraph, + source=origin, + target=edge[1], + weight="dist", + ) + if dist_to_row_start_0 >= dist_to_row_start_1: + edge = (edge[1], edge[0]) + dist = dist_to_row_start_1 + else: + dist = dist_to_row_start_0 + path = nx.shortest_path( + G=self.headland_subgraph, + source=origin, + target=edge[0], + weight="dist", + ) + return edge, dist, path + + def evaluate_state(self, state: list = None) -> float: + if state is None: + state = self.state + headland_dist = 0.0 + last_node = "" + self.path = [] + for idx, row in enumerate(state): + if idx == 0: + start_node = self.logistic_point_names[0] + else: + start_node = last_node + + edge, dist_to_row, path = self.find_closest_path( + origin=start_node, edge=row + ) + + headland_dist += dist_to_row + self.path.extend(path) + last_node = edge[1] + + dist_to_logistic = nx.shortest_path_length( + G=self.headland_subgraph, + source=state[-1][1], + target=self.logistic_point_names[0], + weight="dist", + ) + self.path.extend( + nx.shortest_path( + G=self.headland_subgraph, + source=last_node, + target=self.logistic_point_names[0], + weight="dist", + ) + ) + headland_dist += dist_to_logistic + return headland_dist + + def init_optimization(self, optimize_method: str, keep_history: bool = False): + self.last_state = [] + self.optimize_method = optimize_method + self.state = self.create_random_state() + cost = self.evaluate_state() + if not keep_history: + self.best_path = self.path + self.best_state_cost = cost + self.best_state = self.state + self.cost_history = [] + self.cost_history.append(round(cost, 2)) + + def create_neighborhood(self): + self.last_state = self.state + combinations = list(itertools.combinations(range(0, len(self.state)), 2)) + unique_combinations = list(set(combinations)) + random.shuffle(unique_combinations) + self.draw_neighborhood(neighborhood=unique_combinations) + self.neighborhood = unique_combinations + + def draw_neighborhood(self, neighborhood: list): + plt.cla() + costs = [] + for neighbor in neighborhood: + neighbor_state = self.apply_neighbor_to_state(neighbor) + cost = self.evaluate_state(state=neighbor_state) + costs.append(cost) + costs = np.array(costs) + + self.neighbor_ax.scatter(0, self.evaluate_state(self.state), c="tab:red") + for idx, cost in zip(range(len(neighborhood)), reversed(costs)): + self.neighbor_ax.bar(idx + 1, cost, color="tab:blue") + # min line + self.neighbor_ax.plot( + [0, len(neighborhood) + 1], + [costs.min(), costs.min()], + "b:", + ) + # current line + current_state_cost = self.evaluate_state(self.state) + self.neighbor_ax.plot( + [0, len(neighborhood) + 1], + [current_state_cost, current_state_cost], + "r:", + ) + # plot cost history + cost_plot_idcs = [ + i + len(neighborhood) + 1 for i in range(len(self.cost_history)) + ] + self.neighbor_ax.plot(cost_plot_idcs, self.cost_history) + + # x-axis labels + neighborhood_labels = [ + (self.state[n[0]], self.state[n[1]]) for n in reversed(neighborhood) + ] + self.neighbor_ax.set_xticks( + list(range(len(neighborhood) + 1 + len(self.cost_history))), + ["current", *neighborhood_labels, *list(range(len(self.cost_history)))], + rotation=90, + ) + + self.neighbor_fig.suptitle("Neighborhood & cost history") + self.neighbor_ax.set_ylabel("Cost") + self.neighbor_fig.subplots_adjust(bottom=0.35) + + def apply_neighbor_to_state(self, neighbor: list[int, int]) -> list: + state = self.state.copy() + idx1, idx2 = neighbor + old_val_idx1 = state[idx1] + state[idx1] = state[idx2] + state[idx2] = old_val_idx1 + + return state + + def hc_successor(self) -> [list, bool]: + terminate = True + cost = self.evaluate_state() + selected_neighbor_state = self.state + for neighbor in self.neighborhood: + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + neighbor_cost = self.evaluate_state(state=neighbor_state) + if neighbor_cost < cost: + cost = neighbor_cost + selected_neighbor_state = neighbor_state + terminate = False + + return selected_neighbor_state, terminate + + def first_choice_hc_successor(self) -> [list, bool]: + cost = self.cost_history[-1] + local_neighborhood = self.neighborhood.copy() + while cost >= self.cost_history[-1]: + neighbor = local_neighborhood.pop() + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + cost = self.evaluate_state(state=neighbor_state) + if not local_neighborhood: + return self.state, True + + return neighbor_state, False + + def stochastic_hc_successor(self) -> [list, bool]: + neighbor_states = [] + neighbor_costs = [] + for neighbor in self.neighborhood: + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + neighbor_cost = self.evaluate_state(state=neighbor_state) + neighbor_costs.append(neighbor_cost) + neighbor_states.append(neighbor_state) + return self.stochastic_hc( + current_state=self.state, + neighbor_states=neighbor_states, + neighbor_costs=neighbor_costs, + ) + + def random_restart_hc_successor(self) -> [list, bool]: + hc_successor, terminate = self.hc_successor() + if terminate: + # perform restart + self.init_optimization( + optimize_method=self.optimize_method, keep_history=True + ) + hc_successor = self.state + return hc_successor, False + + def sa_successor(self) -> [list, bool]: + # get t + t = len(self.cost_history) + # calculate temperature with function of user + temperature = self.t_schedule(t) + if temperature <= 0: + return self.state, True + # choose random successor + local_neighborhood = self.neighborhood.copy() + neighbor_candidate = local_neighborhood.pop() + neighbor_candidate_state = self.apply_neighbor_to_state( + neighbor=neighbor_candidate + ) + # get cost of the successor + cost = self.evaluate_state(state=neighbor_candidate_state) + + delta_e = cost - self.cost_history[-1] + if delta_e < 0: + return neighbor_candidate_state, False + else: + propability = np.exp(delta_e / temperature) + if random.random() <= propability: + return neighbor_candidate_state, False + else: + return self.state, False + + def random_search_successor(self) -> [list, bool]: + neighbor_states = [] + neighbor_costs = [] + for neighbor in self.neighborhood: + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + neighbor_cost = self.evaluate_state(state=neighbor_state) + neighbor_costs.append(neighbor_cost) + neighbor_states.append(neighbor_state) + return self.random_search( + current_state=self.state, + neighbor_states=neighbor_states, + neighbor_costs=neighbor_costs, + ) + + def set_successor(self): + # method + if self.optimize_method == "Hill climbing": + chosen_state, terminate = self.hc_successor() + elif self.optimize_method == "First-choice HC": + chosen_state, terminate = self.first_choice_hc_successor() + elif self.optimize_method == "Stochastic HC": + chosen_state, terminate = self.stochastic_hc_successor() + elif self.optimize_method == "Random-restart HC": + chosen_state, terminate = self.random_restart_hc_successor() + elif self.optimize_method == "SA": + chosen_state, terminate = self.sa_successor() + elif self.optimize_method == "Random search": + chosen_state, terminate = self.random_search_successor() + else: + return + + self.state = chosen_state + + cost = self.evaluate_state() + if cost < self.best_state_cost: + self.best_state_cost = cost + self.best_state = self.state + self.best_path = self.path + if not terminate: + self.cost_history.append(round(cost, 2)) + return terminate + + @staticmethod + def simplify_node_name(node: str) -> str: + node = node.replace("anticlock_", "") + node = node.replace("clock_", "") + node = node.replace("_in", "") + node = node.replace("_out", "") + return node + + +class FieldVisualizer: + def __init__(self, simulation: Simulation, canvas_size: int = 400): + self.sim_canvas_size = canvas_size + self.simulation_canvas = Canvas( + height=self.sim_canvas_size, width=int(self.sim_canvas_size * 16 / 9) + ) + self._calculate_scaling_params_for_simulation(simulation=simulation) + + def _calculate_scaling_params_for_simulation(self, simulation: Simulation): + field_border_x = np.array(simulation.field_border[0]) + field_border_y = np.array(simulation.field_border[1]) + + min_x = field_border_x.min() + max_x = field_border_x.max() + min_y = field_border_y.min() + max_y = field_border_y.max() + + delta_x = max_x - min_x + delta_y = max_y - min_y + + if delta_x > delta_y: + high_delta = delta_x + else: + high_delta = delta_y + + self.sim_canvas_factor = self.sim_canvas_size / high_delta + self.sim_canvas_x_offset = ( + abs(min_x) + (self.sim_canvas_size / self.sim_canvas_factor - delta_x) / 2 + ) + self.sim_canvas_y_offset = ( + abs(min_y) + (self.sim_canvas_size / self.sim_canvas_factor - delta_y) / 2 + ) + + scaled_field_border_x = ( + field_border_x + self.sim_canvas_x_offset + ) * self.sim_canvas_factor + scaled_field_border_y = ( + field_border_y + self.sim_canvas_y_offset + ) * self.sim_canvas_factor + self.scaled_field_border = [ + (fb_x, fby) + for fb_x, fby in zip(scaled_field_border_x, scaled_field_border_y) + ] + + self.rows = [ + e + for e in simulation.sim_graph.edges() + if simulation.sim_graph.edges[e]["headland"] == False + ] + + x_row_coords = [ + np.array( + ( + simulation.sim_graph.nodes[a]["pos"][0], + simulation.sim_graph.nodes[b]["pos"][0], + ) + ) + for a, b in self.rows + ] + y_row_coords = [ + np.array( + ( + simulation.sim_graph.nodes[a]["pos"][1], + simulation.sim_graph.nodes[b]["pos"][1], + ) + ) + for a, b in self.rows + ] + row_coords = np.array((x_row_coords, y_row_coords)) + scaled_row_coords = self._rescale_to_simulation_frame_coords(row_coords) + + self.scaled_row_coords = [ + ([x[0], y[0]], [x[1], y[1]]) + for x, y in zip(scaled_row_coords[0], scaled_row_coords[1]) + ] + + logistic_nodes = [] + for names in simulation.logistic_point_names: + logistic_nodes.append(names) + + self.scaled_logistic_coords = [] + for logistic_node in logistic_nodes: + logistic_pos = np.array(simulation.sim_graph.nodes[logistic_node]["pos"]) + logistic_pos = self._rescale_to_simulation_frame_coords(logistic_pos) + + def _rescale_to_simulation_frame_coords( + self, coord: np.array + ) -> tuple[np.array, np.array]: + return (coord[0] + self.sim_canvas_x_offset) * self.sim_canvas_factor, ( + coord[1] + self.sim_canvas_y_offset + ) * self.sim_canvas_factor + + def draw_borders(self): + self.simulation_canvas.stroke_style = "#000000" + self.simulation_canvas.line_width = 1 + self.simulation_canvas.stroke_polygon(self.scaled_field_border) + self.simulation_canvas.fill_style = "#997950" + self.simulation_canvas.fill_polygon(self.scaled_field_border) + + def draw_nodes(self, simulation: Simulation): + radius = 8 + for node in list(simulation.sim_graph.nodes()): + pos = simulation.sim_graph.nodes()[node]["pos"] + scaled_pos_x, scaled_pos_y = self._rescale_to_simulation_frame_coords( + np.array((pos[0], pos[1])) + ) + # set color + if "logistic" in node: + self.simulation_canvas.fill_style = "#800080" + else: + self.simulation_canvas.fill_style = "#808080" + + self.simulation_canvas.fill_circle( + scaled_pos_x, + scaled_pos_y, + radius, + ) + self.simulation_canvas.fill_style = "#000000" + self.simulation_canvas.fill_text( + text=node, + x=scaled_pos_x, + y=scaled_pos_y, + ) + + def draw_rows(self, simulation: Simulation): + row_width = ( + simulation.field_info_dict["operating_width"] * self.sim_canvas_factor + 1 + ) + + self.simulation_canvas.stroke_style = "#4c392d" + self.simulation_canvas.line_width = row_width + for row_coord in self.scaled_row_coords: + self.simulation_canvas.stroke_line(*row_coord[0], *row_coord[1]) + + @staticmethod + def rgb2hex(r, g, b): + return "#{:02x}{:02x}{:02x}".format(r, g, b) + + def draw_current_solution_path( + self, simulation: Simulation, draw_best: bool = False + ): + if draw_best: + path = simulation.best_path + else: + path = simulation.path + self.simulation_canvas.line_width = 3 + for idx, node in enumerate(path): + r = int(idx / len(path) * 200) + g = 200 - int(idx / len(path) * 200) + self.simulation_canvas.stroke_style = self.rgb2hex(r, g, 140) + if idx == 0: + continue + edge = (path[idx - 1], node) + dubin_x = simulation.sim_graph.edges()[edge]["path_x"] + dubin_y = simulation.sim_graph.edges()[edge]["path_y"] + rescaled_path = self._rescale_to_simulation_frame_coords( + np.array([dubin_x, dubin_y]) + ) + lines = [ + np.array((x, y)) for x, y in zip(rescaled_path[0], rescaled_path[1]) + ] + self.simulation_canvas.begin_path() + self.simulation_canvas.move_to(*lines[0]) + for p in lines: + self.simulation_canvas.line_to(*p) + + self.simulation_canvas.stroke() + + def draw_path_segment( + self, simulation: Simulation, idx: int, draw_best: bool = False + ): + if draw_best: + path = simulation.best_path + else: + path = simulation.path + self.simulation_canvas.line_width = 3 + if idx == 0: + return + node = path[idx] + r = int(idx / len(path) * 200) + g = 200 - int(idx / len(path) * 200) + self.simulation_canvas.stroke_style = self.rgb2hex(r, g, 140) + edge = (path[idx - 1], node) + dubin_x = simulation.sim_graph.edges()[edge]["path_x"] + dubin_y = simulation.sim_graph.edges()[edge]["path_y"] + rescaled_path = self._rescale_to_simulation_frame_coords( + np.array([dubin_x, dubin_y]) + ) + lines = [np.array((x, y)) for x, y in zip(rescaled_path[0], rescaled_path[1])] + self.simulation_canvas.begin_path() + self.simulation_canvas.move_to(*lines[0]) + for p in lines: + self.simulation_canvas.line_to(*p) + + self.simulation_canvas.stroke() + + def draw_available_path(self, simulation: Simulation, current_node: str): + self.simulation_canvas.line_width = 3 + self.simulation_canvas.stroke_style = "green" + for edge in list(simulation.sim_graph.edges(current_node)): + dubin_x = simulation.sim_graph.edges()[edge]["path_x"] + dubin_y = simulation.sim_graph.edges()[edge]["path_y"] + rescaled_path = self._rescale_to_simulation_frame_coords( + np.array([dubin_x, dubin_y]) + ) + lines = [ + np.array((x, y)) for x, y in zip(rescaled_path[0], rescaled_path[1]) + ] + self.simulation_canvas.begin_path() + self.simulation_canvas.move_to(*lines[0]) + for p in lines: + self.simulation_canvas.line_to(*p) + self.simulation_canvas.stroke() + + def draw_states(self, simulation: Simulation): + # clear info side + self.simulation_canvas.clear_rect( + self.sim_canvas_size + 10, 0, self.sim_canvas_size, self.sim_canvas_size + ) + self.simulation_canvas.fill_style = "#000000" + self.simulation_canvas.font = "15px Arial" + + self.simulation_canvas.fill_text( + text="last state", + x=self.sim_canvas_size + 10, + y=20, + ) + self.simulation_canvas.fill_text( + text="current state", + x=self.sim_canvas_size + 100, + y=20, + ) + self.simulation_canvas.fill_text( + text="cost history", + x=self.sim_canvas_size + 200, + y=20, + ) + self.simulation_canvas.fill_text( + text="best", + x=self.sim_canvas_size + 300, + y=20, + ) + # find indices of changed rows + changed_state_idx = [] + if simulation.last_state: + changed_state_idx = [ + idx + for idx, item in enumerate(simulation.state) + if item != simulation.last_state[idx] + ] + + for idx, row in enumerate(simulation.last_state): + self.simulation_canvas.fill_text( + text=row, + x=self.sim_canvas_size + 10, + y=50 + idx * 16, + ) + + for idx, row in enumerate(simulation.state): + # highlight changed rows + if idx in changed_state_idx: + self.simulation_canvas.fill_style = "#9F0000" + self.simulation_canvas.fill_text( + text=row, + x=self.sim_canvas_size + 100, + y=50 + idx * 16, + ) + self.simulation_canvas.fill_style = "#000000" + + # draw cost history + for idx, cost in enumerate(simulation.cost_history): + self.simulation_canvas.fill_text( + text=cost, + x=self.sim_canvas_size + 200, + y=50 + idx * 16, + ) + # draw best state + for idx, row in enumerate(simulation.best_state): + self.simulation_canvas.fill_text( + text=row, + x=self.sim_canvas_size + 300, + y=50 + idx * 16, + ) + # best cost + self.simulation_canvas.fill_text( + text=f"cost={simulation.best_state_cost:.2f}", + x=self.sim_canvas_size + 300, + y=50 + len(simulation.best_state) * 16, + ) + + def draw_optimization_frame( + self, simulation: Simulation, draw_idx: int = None, draw_best: bool = False + ): + if draw_idx is None or draw_idx == 0: + self.draw_borders() + self.draw_rows(simulation=simulation) + self.draw_nodes(simulation=simulation) + self.draw_states(simulation=simulation) + if draw_idx is None: + self.draw_current_solution_path(simulation=simulation, draw_best=draw_best) + else: + self.draw_path_segment( + simulation=simulation, idx=draw_idx, draw_best=draw_best + ) + + +class IPyUI: + def __init__( + self, field_vis: FieldVisualizer, optimize_sim: Simulation, max_iterations: int + ): + self.field_vis = field_vis + self.optimize_sim = optimize_sim + self.current_idx = 0 + self.showing_best = False + self.max_iterations = max_iterations + self.iteration = 0 + + def optimization_ui(self): + # Optimization settings + self.optimize_method = "Hill climbing" + self.tpye_dd = widgets.Dropdown( + options=[ + "Hill climbing", + "First-choice HC", + "Stochastic HC", + "Random-restart HC", + "SA", + "Random search", + ], + value=self.optimize_method, + description="O. Type", + disabled=False, + ) + self.stepwise_path = False + self.stepwise_checkbox = widgets.Checkbox( + value=self.stepwise_path, description="Stepwise Path" + ) + self.stepwise_checkbox.observe(self._animate_check_box_callback, names="value") + self.next_step_button = widgets.Button(description="Next step") + self.next_step_button.disabled = True + self.initialize_bttn = widgets.Button(description="Initialize!") + self.initialize_bttn.disabled = False + self.get_neighbors_bttn = widgets.Button(description="Get Neighbors") + self.get_neighbors_bttn.disabled = True + self.select_successor_bttn = widgets.Button(description="Select Successor") + self.select_successor_bttn.disabled = True + self.optimize_bttn = widgets.Button(description="Auto optimize") + self.optimize_bttn.disabled = True + self.draw_best_bttn = widgets.Button(description="Draw best") + self.draw_best_bttn.disabled = True + config_box = widgets.HBox([self.tpye_dd, self.initialize_bttn]) + stepwise_box = widgets.HBox([self.stepwise_checkbox, self.next_step_button]) + + self.initialize_bttn.on_click(self._init_optimization) + self.next_step_button.on_click(self._next_path_segment) + self.get_neighbors_bttn.on_click(self._get_neighborhood) + self.select_successor_bttn.on_click(self._select_successor) + self.optimize_bttn.on_click(self._optimize) + self.draw_best_bttn.on_click(self._draw_best) + self.tpye_dd.observe(self._optimize_method_dd_callback, names="value") + + items = [ + config_box, + stepwise_box, + self.get_neighbors_bttn, + self.select_successor_bttn, + self.optimize_bttn, + ] + opti_box = widgets.VBox(items) + ui_box = widgets.HBox([opti_box, self.draw_best_bttn]) + + display(ui_box, self.field_vis.simulation_canvas) + + self.field_vis.draw_optimization_frame(self.optimize_sim) + + def _init_optimization(self, _): + self.optimize_sim.init_optimization(self.optimize_method) + self.tpye_dd.disabled = True + self.get_neighbors_bttn.disabled = False + self.draw_best_bttn.disabled = False + self.optimize_bttn.disabled = False + self._update_frame() + + def _draw_best(self, _): + if self.showing_best: + self.field_vis.draw_optimization_frame(self.optimize_sim, draw_best=False) + self.draw_best_bttn.description = "Draw best" + self.showing_best = False + else: + self.field_vis.draw_optimization_frame(self.optimize_sim, draw_best=True) + self.draw_best_bttn.description = "Draw current" + self.showing_best = True + + def _optimize(self, _): + while self.iteration < self.max_iterations: + self.optimize_sim.create_neighborhood() + terminate = self.optimize_sim.set_successor() + if terminate: + self._update_frame() + break + self.iteration += 1 + self.get_neighbors_bttn.disabled = True + self.select_successor_bttn.disabled = True + self.optimize_bttn.disabled = True + if self.iteration == self.max_iterations: + self._update_frame() + + def _next_path_segment(self, _): + self.field_vis.draw_optimization_frame( + simulation=self.optimize_sim, draw_idx=self.current_idx + ) + self.current_idx += 1 + if self.current_idx >= len(self.optimize_sim.path): + self.next_step_button.disabled = True + + def _select_successor(self, _): + terminate = self.optimize_sim.set_successor() + if terminate: + self.get_neighbors_bttn.disabled = True + else: + self.get_neighbors_bttn.disabled = False + self.select_successor_bttn.disabled = True + self.optimize_bttn.disabled = True + self.iteration += 1 + self._update_frame() + + def _update_frame(self): + self.showing_best = False + self.draw_best_bttn.description = "Draw best" + self.current_idx = 0 + if self.stepwise_path: + self.next_step_button.disabled = False + + self.field_vis.draw_optimization_frame( + simulation=self.optimize_sim, draw_idx=self.current_idx + ) + self.current_idx += 1 + else: + self.field_vis.draw_optimization_frame(simulation=self.optimize_sim) + + def _get_neighborhood(self, _): + self.optimize_sim.create_neighborhood() + self.get_neighbors_bttn.disabled = True + self.select_successor_bttn.disabled = False + self.optimize_bttn.disabled = True + + def _animate_check_box_callback(self, msg): + self.stepwise_path = msg["new"] + self.current_idx = 0 + self.next_step_button.disabled = not self.stepwise_path + if self.stepwise_path: + self.field_vis.draw_optimization_frame( + simulation=self.optimize_sim, draw_idx=0 + ) + else: + self.field_vis.draw_optimization_frame(simulation=self.optimize_sim) + + def _optimize_method_dd_callback(self, msg): + self.optimize_method = msg["new"] diff --git a/AgRobotSwarmForOptimization/field_optimization_filled_in.ipynb b/AgRobotSwarmForOptimization/field_optimization_filled_in.ipynb new file mode 100644 index 0000000..3747091 --- /dev/null +++ b/AgRobotSwarmForOptimization/field_optimization_filled_in.ipynb @@ -0,0 +1,75 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "%matplotlib ipympl\n", + "import numpy as np\n", + "from field_optimization import Simulation, FieldVisualizer, IPyUI\n", + "\n", + "def random_search_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " terminate = False\n", + " neighbor = neighbor_states.pop()\n", + " neighbor_cost = neighbor_costs.pop()\n", + " current_cost = optimize_sim.evaluate_state(state=current_state)\n", + " if current_cost > neighbor_cost:\n", + " return neighbor, terminate\n", + " else:\n", + " return current_state, terminate\n", + "\n", + "def stochastic_hc_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " current_cost = optimize_sim.evaluate_state(current_state)\n", + " neighbor_cost_deltas = [current_cost - cost for cost in neighbor_costs]\n", + " candidates = []\n", + " weights = []\n", + " for neighbor_state, neighbor_cost_delta in zip(neighbor_states, neighbor_cost_deltas):\n", + " if neighbor_cost_delta > 0:\n", + " candidates.append(neighbor_state)\n", + " weights.append(neighbor_cost_delta)\n", + "\n", + " if not candidates:\n", + " return current_state, True\n", + " successor = np.random.choice(np.array(candidates), (1, len(candidates[0])), p=np.array(weights)).tolist()\n", + "\n", + " return successor, False\n", + "\n", + "def t_schedule(t: int) -> float:\n", + " t_max = 100\n", + " return t_max - t * t\n", + "\n", + "MAX_ITERATIONS = 50\n", + "\n", + "optimize_sim = Simulation(field_save_dir=\"field\", t_schedule=t_schedule, stochastic_hc=stochastic_hc_successor, random_search=random_search_successor)\n", + "optimize_sim.prepare_complete_state_representation()\n", + "field_vis = FieldVisualizer(optimize_sim, canvas_size=600)\n", + "ui = IPyUI(field_vis=field_vis, optimize_sim=optimize_sim, max_iterations=MAX_ITERATIONS)\n", + "ui.optimization_ui()\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.13" + }, + "orig_nbformat": 4 + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/AgRobotSwarmForOptimization/graph/node_link_data435o.bin b/AgRobotSwarmForOptimization/graph/node_link_data435o.bin new file mode 100644 index 0000000000000000000000000000000000000000..71f7cceeff186a90830bc0d6840e9c20d0e972f7 GIT binary patch literal 986 zcmaiyJ!sTm7{@Qk<*w8s9TbYx4|KUfZgP+!q?)BPa@13#P!2D>ylsMQa?K?|3I&&< zr!Ovjtb!mYsFR(wqhLW157fb>$JIk{sYnNL(>!^7O15MOzr6YX{_jU}Gk?FMJ80$g=Hi?yHzB{Y<#*8+an4HuhHx#9V&oM@)+ zn-TD#YjK_DwgNwF1h9rO27wn{OGMVd$gP4d&B86HLdlQ}c@^v-u3ACVWT?n!PQIA#YEJ#-C9}6no}A@98GAZ@ zs=lLjy0wY(Z~EjZS>Ctfb@%thZ7o>eDC?Ua$;)SXuk?Fc8=v26XU0B_aQ{1bYL<65 zdN_4qy06`F9zWVS-6gM(et9%Sl4rXFPKkz*zo onOtOYk;z3SS4riODUVEfWXk7L8Dz>JQ$|gVBhz>xVHTGE0c$2_k^lez literal 0 HcmV?d00001 diff --git a/AgRobotSwarmForOptimization/graph_optimization.ipynb b/AgRobotSwarmForOptimization/graph_optimization.ipynb new file mode 100644 index 0000000..a051188 --- /dev/null +++ b/AgRobotSwarmForOptimization/graph_optimization.ipynb @@ -0,0 +1,64 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "%matplotlib ipympl\n", + "from graph_optimization import Simulation, Visualizer, IPyUI\n", + "\n", + "###### Dieser Teil gehört zur optionalen Programmieraufgabe ######\n", + "def random_search_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " terminate = True\n", + " return current_state, terminate\n", + "\n", + "def stochastic_hc_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " terminate = True\n", + " return current_state, terminate\n", + "###### Teil-Ende ######\n", + "\n", + "\n", + "###### In diesem Teil könnt ihr Änderungen vornehmen ######\n", + "def t_schedule(t: int) -> float:\n", + " t_max = 100\n", + " return t_max - t\n", + "\n", + "MAX_ITERATIONS = 50\n", + "MANUAL_STATE_TEST = [\"Hof\", 0, 1, 2, 3, \"Hof\", 4, 5, 6, 7]\n", + "###### Teil-Ende ######\n", + "\n", + "###### Der restliche Teil startet das Programm ######\n", + "optimize_sim = Simulation(graph_load_dir=\"graph\", t_schedule=t_schedule, stochastic_hc=stochastic_hc_successor, random_search=random_search_successor, dummy=True)\n", + "print(f\"Die manuell eingegebne complete state formulation wird mit {optimize_sim.evaluate_state(MANUAL_STATE_TEST)} bewertet.\")\n", + "del optimize_sim\n", + "optimize_sim = Simulation(graph_load_dir=\"graph\", t_schedule=t_schedule, stochastic_hc=stochastic_hc_successor, random_search=random_search_successor)\n", + "field_vis = Visualizer(optimize_sim, canvas_size=550)\n", + "ui = IPyUI(field_vis=field_vis, optimize_sim=optimize_sim, max_iterations=MAX_ITERATIONS)\n", + "ui.optimization_ui()\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.13" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/AgRobotSwarmForOptimization/graph_optimization.py b/AgRobotSwarmForOptimization/graph_optimization.py new file mode 100644 index 0000000..dfd59ae --- /dev/null +++ b/AgRobotSwarmForOptimization/graph_optimization.py @@ -0,0 +1,720 @@ +import networkx as nx +import numpy as np +import random +import itertools +import pickle + +from ipycanvas import Canvas +from os.path import join +from matplotlib import pyplot as plt +import ipywidgets as widgets +from IPython.display import display +from PIL import Image as PILImage +from ipywidgets import Image + + +class Simulation: + def __init__( + self, + graph_load_dir: str, + t_schedule: callable, + random_search: callable, + stochastic_hc: callable, + dummy: bool = False, + ): + self.path = [] + self.state = [] + self.last_state = [] + self.cost_history = [] + self.best_state = [] + self.best_state_cost = 0 + self.best_path = [] + self._load_graph(load_dir=graph_load_dir) + if dummy: + return + self.neighbor_fig = plt.figure() + self.neighbor_ax = self.neighbor_fig.add_subplot() + self.t_schedule = t_schedule + self.random_search = random_search + self.stochastic_hc = stochastic_hc + + def _load_graph(self, load_dir: str): + y_scale = 0.5 + with open(join(load_dir, "node_link_data435o.bin"), "rb") as f: + node_link_data = pickle.load(f) + self.sim_graph: nx.Graph = nx.node_link_graph(node_link_data) + + max_x = max(self.sim_graph.nodes()[n]["pos"][0] for n in self.sim_graph.nodes()) + self.sim_graph.add_node("Hof", pos=np.array([max_x, 0.0])) + for node in list(self.sim_graph.nodes()): + if node == "Hof": + continue + # self.sim_graph.add_edge("Hof", node) + self.sim_graph.add_edge(node, "Hof") + self.sim_graph.nodes()[node]["pos"][1] = ( + self.sim_graph.nodes()[node]["pos"][1] * y_scale + ) + self.prepare_edge_costs() + + def prepare_edge_costs(self): + for edge in self.sim_graph.edges(): + a = self.sim_graph.nodes()[edge[0]]["pos"] * 100 + b = self.sim_graph.nodes()[edge[1]]["pos"] * 100 + dist = int(np.linalg.norm(a - b).round(decimals=1)) + self.sim_graph.edges()[edge]["dist"] = dist + + def create_random_state(self) -> list[str, str]: + state = [] + for node in list(self.sim_graph.nodes()): + if node == "Hof": + continue + state.append(node) + random.shuffle(state) + state.insert(0, "Hof") + state.insert(5, "Hof") + return state + + def evaluate_state(self, state: list = None) -> float: + if state is None: + state = self.state + self.path = [] + dist_sum = 0 + for idx, node in enumerate(state): + if idx == (len(state) - 1): + dist = self.sim_graph.edges()[state[idx], state[0]]["dist"] + dist_sum = dist_sum + dist + else: + dist = self.sim_graph.edges()[state[idx], state[idx + 1]]["dist"] + dist_sum = dist_sum + dist + self.path.extend(state) + return dist_sum + + def init_optimization(self, optimize_method: str, keep_history: bool = False): + self.last_state = [] + self.optimize_method = optimize_method + self.state = self.create_random_state() + cost = self.evaluate_state() + if not keep_history: + self.best_path = self.path + self.best_state_cost = cost + self.best_state = self.state + self.cost_history = [] + self.cost_history.append(round(cost, 2)) + + def create_neighborhood(self): + self.last_state = self.state + combinations = list(itertools.combinations(range(0, len(self.state) - 2), 2)) + unique_combinations = list(set(combinations)) + random.shuffle(unique_combinations) + self.draw_neighborhood(neighborhood=unique_combinations) + self.neighborhood = unique_combinations + + def draw_neighborhood(self, neighborhood: list): + plt.cla() + costs = [] + neighbor_idcs = [] + for neighbor in neighborhood: + neighbor_state, idcs = self.apply_neighbor_to_state( + neighbor, return_idcs=True + ) + cost = self.evaluate_state(state=neighbor_state) + costs.append(cost) + neighbor_idcs.append(idcs) + costs = np.array(costs) + + self.neighbor_ax.scatter(0, self.evaluate_state(self.state), c="tab:red") + for idx, cost in zip(range(len(neighborhood)), reversed(costs)): + self.neighbor_ax.bar(idx + 1, cost, color="tab:blue") + # min line + self.neighbor_ax.plot( + [0, len(neighborhood) + 1], + [costs.min(), costs.min()], + "b:", + ) + # current line + current_state_cost = self.evaluate_state(self.state) + self.neighbor_ax.plot( + [0, len(neighborhood) + 1], + [current_state_cost, current_state_cost], + "r:", + ) + # plot cost history + cost_plot_idcs = [ + i + len(neighborhood) + 1 for i in range(len(self.cost_history)) + ] + self.neighbor_ax.plot(cost_plot_idcs, self.cost_history) + + # x-axis labels + neighborhood_labels = [ + (self.state[idx1], self.state[idx2]) + for idx1, idx2 in reversed(neighbor_idcs) + ] + + self.neighbor_ax.set_xticks( + list(range(len(neighborhood) + 1 + len(self.cost_history))), + ["current", *neighborhood_labels, *list(range(len(self.cost_history)))], + rotation=90, + ) + + self.neighbor_fig.suptitle("Neighborhood & cost history") + self.neighbor_ax.set_ylabel("Cost") + self.neighbor_fig.subplots_adjust(bottom=0.35) + + def apply_neighbor_to_state( + self, neighbor: list[int, int], return_idcs: bool = False + ) -> list: + state = self.state.copy() + node1, node2 = neighbor + idx1 = state.index(node1) + idx2 = state.index(node2) + old_val_idx1 = state[idx1] + state[idx1] = state[idx2] + state[idx2] = old_val_idx1 + if return_idcs: + return state, (idx1, idx2) + else: + return state + + def hc_successor(self) -> [list, bool]: + terminate = True + cost = self.evaluate_state() + selected_neighbor_state = self.state + for neighbor in self.neighborhood: + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + neighbor_cost = self.evaluate_state(state=neighbor_state) + if neighbor_cost < cost: + cost = neighbor_cost + selected_neighbor_state = neighbor_state + terminate = False + + return selected_neighbor_state, terminate + + def first_choice_hc_successor(self) -> [list, bool]: + cost = self.cost_history[-1] + local_neighborhood = self.neighborhood.copy() + while cost >= self.cost_history[-1]: + neighbor = local_neighborhood.pop() + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + cost = self.evaluate_state(state=neighbor_state) + if not local_neighborhood: + return self.state, True + + return neighbor_state, False + + def stochastic_hc_successor(self) -> [list, bool]: + neighbor_states = [] + neighbor_costs = [] + for neighbor in self.neighborhood: + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + neighbor_cost = self.evaluate_state(state=neighbor_state) + neighbor_costs.append(neighbor_cost) + neighbor_states.append(neighbor_state) + return self.stochastic_hc( + current_state=self.state, + neighbor_states=neighbor_states, + neighbor_costs=neighbor_costs, + ) + + def random_restart_hc_successor(self) -> [list, bool]: + hc_successor, terminate = self.hc_successor() + if terminate: + # perform restart + self.init_optimization( + optimize_method=self.optimize_method, keep_history=True + ) + hc_successor = self.state + return hc_successor, False + + def sa_successor(self) -> [list, bool]: + # get t + t = len(self.cost_history) + # calculate temperature with function of user + temperature = self.t_schedule(t) + if temperature <= 0: + return self.state, True + # choose random successor + local_neighborhood = self.neighborhood.copy() + neighbor_candidate = local_neighborhood.pop() + neighbor_candidate_state = self.apply_neighbor_to_state( + neighbor=neighbor_candidate + ) + # get cost of the successor + cost = self.evaluate_state(state=neighbor_candidate_state) + + delta_e = cost - self.cost_history[-1] + if delta_e < 0: + return neighbor_candidate_state, False + else: + propability = np.exp(delta_e / temperature) + if random.random() <= propability: + return neighbor_candidate_state, False + else: + return self.state, False + + def random_search_successor(self) -> [list, bool]: + neighbor_states = [] + neighbor_costs = [] + for neighbor in self.neighborhood: + neighbor_state = self.apply_neighbor_to_state(neighbor=neighbor) + neighbor_cost = self.evaluate_state(state=neighbor_state) + neighbor_costs.append(neighbor_cost) + neighbor_states.append(neighbor_state) + return self.random_search( + current_state=self.state, + neighbor_states=neighbor_states, + neighbor_costs=neighbor_costs, + ) + + def set_successor(self): + # method + if self.optimize_method == "Hill climbing": + chosen_state, terminate = self.hc_successor() + elif self.optimize_method == "First-choice HC": + chosen_state, terminate = self.first_choice_hc_successor() + elif self.optimize_method == "Stochastic HC": + chosen_state, terminate = self.stochastic_hc_successor() + elif self.optimize_method == "Random-restart HC": + chosen_state, terminate = self.random_restart_hc_successor() + elif self.optimize_method == "SA": + chosen_state, terminate = self.sa_successor() + elif self.optimize_method == "Random search": + chosen_state, terminate = self.random_search_successor() + else: + return + + self.state = chosen_state + + cost = self.evaluate_state() + if cost < self.best_state_cost: + self.best_state_cost = cost + self.best_state = self.state + self.best_path = self.path + if not terminate: + self.cost_history.append(round(cost, 2)) + return terminate + + +class Visualizer: + def __init__(self, simulation: Simulation, canvas_size: int = 400): + self.sim_canvas_size = canvas_size + self.sim_canvas_width = int(self.sim_canvas_size * 16 / 9) + self.simulation_canvas = Canvas( + height=self.sim_canvas_size, width=self.sim_canvas_width + ) + self._calculate_scaling_params_for_simulation(simulation=simulation) + radius = 20 + self.straw_sprite = PILImage.open("sprites/straw.png") + self.straw_sprite.thumbnail((radius, radius), PILImage.Resampling.LANCZOS) + self.straw_sprite.save("sprites/straw_8.png", quality=10) + self.barn_sprite = PILImage.open("sprites/barn.png") + self.barn_sprite.thumbnail( + (radius * 4, radius * 4), PILImage.Resampling.LANCZOS + ) + self.barn_sprite.save("sprites/barn_8.png", quality=10) + self.straw_sprite = Image.from_file("sprites/straw_8.png") + self.barn_sprite = Image.from_file("sprites/barn_8.png") + + def _calculate_scaling_params_for_simulation(self, simulation: Simulation): + xs = np.array( + [ + simulation.sim_graph.nodes()[n]["pos"] + for n in simulation.sim_graph.nodes() + ] + ) + ys = np.array( + [ + simulation.sim_graph.nodes()[n]["pos"][1] + for n in simulation.sim_graph.nodes() + ] + ) + + min_x = xs.min() - 0.2 # provisorische Lösung für Node am Rand wird halbiert + max_x = xs.max() + 0.2 + min_y = ys.min() - 0.2 + max_y = ys.max() + 0.2 + + delta_x = max_x - min_x + delta_y = max_y - min_y + + if delta_x > delta_y: + high_delta = delta_x + else: + high_delta = delta_y + + self.sim_canvas_factor = self.sim_canvas_size / high_delta + self.sim_canvas_x_offset = ( + abs(min_x) + (self.sim_canvas_size / self.sim_canvas_factor - delta_x) / 2 + ) + self.sim_canvas_y_offset = ( + abs(min_y) + (self.sim_canvas_size / self.sim_canvas_factor - delta_y) / 2 + ) + + def _rescale_to_simulation_frame_coords( + self, coord: np.array + ) -> tuple[np.array, np.array]: + return (coord[0] + self.sim_canvas_x_offset) * self.sim_canvas_factor, ( + coord[1] + self.sim_canvas_y_offset + ) * self.sim_canvas_factor + + def draw_nodes(self, simulation: Simulation): + for node in list(simulation.sim_graph.nodes()): + pos = simulation.sim_graph.nodes()[node]["pos"] + scaled_pos_x, scaled_pos_y = self._rescale_to_simulation_frame_coords( + np.array((pos[0], pos[1])) + ) + if type(node) != int: + self.simulation_canvas.draw_image( + self.barn_sprite, scaled_pos_x, scaled_pos_y + ) + else: + self.simulation_canvas.draw_image( + self.straw_sprite, scaled_pos_x, scaled_pos_y + ) + + self.simulation_canvas.fill_style = "#000000" + self.simulation_canvas.fill_text( + text=node, + x=scaled_pos_x, + y=scaled_pos_y, + ) + + @staticmethod + def rgb2hex(r, g, b): + return "#{:02x}{:02x}{:02x}".format(r, g, b) + + def draw_current_solution_path( + self, simulation: Simulation, draw_best: bool = False + ): + if draw_best: + path = simulation.best_path + else: + path = simulation.path + self.simulation_canvas.line_width = 3 + + for idx, node in enumerate(path): + r = 90 + g = 120 + b = 90 + if idx > 5: + r = 190 + + if idx == 0: + pos1 = simulation.sim_graph.nodes()[path[len(path) - 1]]["pos"] + pos2 = simulation.sim_graph.nodes()[node]["pos"] + r = 190 + else: + pos1 = simulation.sim_graph.nodes()[path[idx - 1]]["pos"] + pos2 = simulation.sim_graph.nodes()[node]["pos"] + + rescaled_node_1 = self._rescale_to_simulation_frame_coords( + np.array((pos1[0], pos1[1])) + ) + rescaled_node_2 = self._rescale_to_simulation_frame_coords( + np.array((pos2[0], pos2[1])) + ) + self.simulation_canvas.stroke_style = self.rgb2hex(r, g, b) + self.simulation_canvas.begin_path() + self.simulation_canvas.move_to(rescaled_node_1[0], rescaled_node_1[1]) + self.simulation_canvas.line_to(rescaled_node_2[0], rescaled_node_2[1]) + self.simulation_canvas.stroke() + + def draw_path_segment( + self, simulation: Simulation, idx: int, draw_best: bool = False + ): + if draw_best: + path = simulation.best_path + else: + path = simulation.path + self.simulation_canvas.line_width = 3 + if idx == 0: + return + node = path[idx] + r = int(idx / len(path) * 200) + g = 200 - int(idx / len(path) * 200) + self.simulation_canvas.stroke_style = self.rgb2hex(r, g, 140) + edge = (path[idx - 1], node) + dubin_x = simulation.sim_graph.edges()[edge]["path_x"] + dubin_y = simulation.sim_graph.edges()[edge]["path_y"] + rescaled_path = self._rescale_to_simulation_frame_coords( + np.array([dubin_x, dubin_y]) + ) + lines = [np.array((x, y)) for x, y in zip(rescaled_path[0], rescaled_path[1])] + self.simulation_canvas.begin_path() + self.simulation_canvas.move_to(*lines[0]) + for p in lines: + self.simulation_canvas.line_to(*p) + + self.simulation_canvas.stroke() + + def draw_available_path(self, simulation: Simulation, current_node: str): + self.simulation_canvas.line_width = 3 + self.simulation_canvas.stroke_style = "green" + for edge in list(simulation.sim_graph.edges(current_node)): + dubin_x = simulation.sim_graph.edges()[edge]["path_x"] + dubin_y = simulation.sim_graph.edges()[edge]["path_y"] + rescaled_path = self._rescale_to_simulation_frame_coords( + np.array([dubin_x, dubin_y]) + ) + lines = [ + np.array((x, y)) for x, y in zip(rescaled_path[0], rescaled_path[1]) + ] + self.simulation_canvas.begin_path() + self.simulation_canvas.move_to(*lines[0]) + for p in lines: + self.simulation_canvas.line_to(*p) + self.simulation_canvas.stroke() + + def draw_states(self, simulation: Simulation): + # clear info side + self.simulation_canvas.clear_rect( + self.sim_canvas_size + 10, 0, self.sim_canvas_size, self.sim_canvas_size + ) + self.simulation_canvas.fill_style = "#000000" + self.simulation_canvas.font = "15px Arial" + + self.simulation_canvas.fill_text( + text="last state", + x=self.sim_canvas_size + 10, + y=20, + ) + self.simulation_canvas.fill_text( + text="current state", + x=self.sim_canvas_size + 100, + y=20, + ) + self.simulation_canvas.fill_text( + text="cost history", + x=self.sim_canvas_size + 200, + y=20, + ) + self.simulation_canvas.fill_text( + text="best", + x=self.sim_canvas_size + 300, + y=20, + ) + # find indices of changed rows + changed_state_idx = [] + if simulation.last_state: + changed_state_idx = [ + idx + for idx, item in enumerate(simulation.state) + if item != simulation.last_state[idx] + ] + + for idx, row in enumerate(simulation.last_state): + self.simulation_canvas.fill_text( + text=row, + x=self.sim_canvas_size + 10, + y=50 + idx * 16, + ) + + for idx, row in enumerate(simulation.state): + # highlight changed rows + if idx in changed_state_idx: + self.simulation_canvas.fill_style = "#9F0000" + self.simulation_canvas.fill_text( + text=row, + x=self.sim_canvas_size + 100, + y=50 + idx * 16, + ) + self.simulation_canvas.fill_style = "#000000" + + # draw cost history + if len(simulation.cost_history) > 20: + cost_hist = simulation.cost_history[-20:] + else: + cost_hist = simulation.cost_history + for idx, cost in enumerate(cost_hist): + self.simulation_canvas.fill_text( + text=cost, + x=self.sim_canvas_size + 200, + y=50 + idx * 16, + ) + # draw best state + for idx, row in enumerate(simulation.best_state): + self.simulation_canvas.fill_text( + text=row, + x=self.sim_canvas_size + 300, + y=50 + idx * 16, + ) + # best cost + self.simulation_canvas.fill_text( + text=f"cost={simulation.best_state_cost:.2f}", + x=self.sim_canvas_size + 300, + y=50 + len(simulation.best_state) * 16, + ) + + def draw_optimization_frame( + self, simulation: Simulation, draw_idx: int = None, draw_best: bool = False + ): + if draw_idx is None or draw_idx == 0: + self.draw_background() + self.draw_nodes(simulation=simulation) + self.draw_states(simulation=simulation) + if draw_idx is None: + self.draw_current_solution_path(simulation=simulation, draw_best=draw_best) + else: + self.draw_path_segment( + simulation=simulation, idx=draw_idx, draw_best=draw_best + ) + + def draw_background(self): + self.simulation_canvas.clear_rect( + 0, 0, self.sim_canvas_width, self.sim_canvas_size + ) + + +class IPyUI: + def __init__( + self, field_vis: Visualizer, optimize_sim: Simulation, max_iterations: int + ): + self.field_vis = field_vis + self.optimize_sim = optimize_sim + self.current_idx = 0 + self.showing_best = False + self.max_iterations = max_iterations + self.iteration = 0 + + def optimization_ui(self): + # Optimization settings + self.optimize_method = "Hill climbing" + self.tpye_dd = widgets.Dropdown( + options=[ + "Hill climbing", + "First-choice HC", + "Stochastic HC", + "Random-restart HC", + "SA", + "Random search", + ], + value=self.optimize_method, + description="O. Type", + disabled=False, + ) + self.stepwise_path = False + self.stepwise_checkbox = widgets.Checkbox( + value=self.stepwise_path, description="Stepwise Path" + ) + self.stepwise_checkbox.disabled = True + self.stepwise_checkbox.observe(self._animate_check_box_callback, names="value") + self.next_step_button = widgets.Button(description="Next step") + self.next_step_button.disabled = True + self.initialize_bttn = widgets.Button(description="Initialize!") + self.initialize_bttn.disabled = False + self.get_neighbors_bttn = widgets.Button(description="Get Neighbors") + self.get_neighbors_bttn.disabled = True + self.select_successor_bttn = widgets.Button(description="Select Successor") + self.select_successor_bttn.disabled = True + self.optimize_bttn = widgets.Button(description="Auto optimize") + self.optimize_bttn.disabled = True + self.draw_best_bttn = widgets.Button(description="Draw best") + self.draw_best_bttn.disabled = True + config_box = widgets.HBox([self.tpye_dd, self.initialize_bttn]) + stepwise_box = widgets.HBox([self.stepwise_checkbox, self.next_step_button]) + + self.initialize_bttn.on_click(self._init_optimization) + self.next_step_button.on_click(self._next_path_segment) + self.get_neighbors_bttn.on_click(self._get_neighborhood) + self.select_successor_bttn.on_click(self._select_successor) + self.optimize_bttn.on_click(self._optimize) + self.draw_best_bttn.on_click(self._draw_best) + self.tpye_dd.observe(self._optimize_method_dd_callback, names="value") + + items = [ + config_box, + stepwise_box, + self.get_neighbors_bttn, + self.select_successor_bttn, + self.optimize_bttn, + ] + opti_box = widgets.VBox(items) + ui_box = widgets.HBox([opti_box, self.draw_best_bttn]) + + display(ui_box, self.field_vis.simulation_canvas) + + self.field_vis.draw_optimization_frame(self.optimize_sim) + + def _init_optimization(self, _): + self.optimize_sim.init_optimization(self.optimize_method) + self.tpye_dd.disabled = True + self.get_neighbors_bttn.disabled = False + self.draw_best_bttn.disabled = False + self.optimize_bttn.disabled = False + self._update_frame() + + def _draw_best(self, _): + if self.showing_best: + self.field_vis.draw_optimization_frame(self.optimize_sim, draw_best=False) + self.draw_best_bttn.description = "Draw best" + self.showing_best = False + else: + self.field_vis.draw_optimization_frame(self.optimize_sim, draw_best=True) + self.draw_best_bttn.description = "Draw current" + self.showing_best = True + + def _optimize(self, _): + while self.iteration < self.max_iterations: + self.optimize_sim.create_neighborhood() + terminate = self.optimize_sim.set_successor() + if terminate: + self._update_frame() + break + self.iteration += 1 + self.get_neighbors_bttn.disabled = True + self.select_successor_bttn.disabled = True + self.optimize_bttn.disabled = True + if self.iteration == self.max_iterations: + self._update_frame() + + def _next_path_segment(self, _): + self.field_vis.draw_optimization_frame( + simulation=self.optimize_sim, draw_idx=self.current_idx + ) + self.current_idx += 1 + if self.current_idx >= len(self.optimize_sim.path): + self.next_step_button.disabled = True + + def _select_successor(self, _): + terminate = self.optimize_sim.set_successor() + if terminate: + self.get_neighbors_bttn.disabled = True + else: + self.get_neighbors_bttn.disabled = False + self.select_successor_bttn.disabled = True + self.optimize_bttn.disabled = True + self.iteration += 1 + self._update_frame() + + def _update_frame(self): + self.showing_best = False + self.draw_best_bttn.description = "Draw best" + self.current_idx = 0 + if self.stepwise_path: + self.next_step_button.disabled = False + + self.field_vis.draw_optimization_frame( + simulation=self.optimize_sim, draw_idx=self.current_idx + ) + self.current_idx += 1 + else: + self.field_vis.draw_optimization_frame(simulation=self.optimize_sim) + + def _get_neighborhood(self, _): + self.optimize_sim.create_neighborhood() + self.get_neighbors_bttn.disabled = True + self.select_successor_bttn.disabled = False + self.optimize_bttn.disabled = True + + def _animate_check_box_callback(self, msg): + self.stepwise_path = msg["new"] + self.current_idx = 0 + self.next_step_button.disabled = not self.stepwise_path + if self.stepwise_path: + self.field_vis.draw_optimization_frame( + simulation=self.optimize_sim, draw_idx=0 + ) + else: + self.field_vis.draw_optimization_frame(simulation=self.optimize_sim) + + def _optimize_method_dd_callback(self, msg): + self.optimize_method = msg["new"] diff --git a/AgRobotSwarmForOptimization/graph_optimization_filled_in.ipynb b/AgRobotSwarmForOptimization/graph_optimization_filled_in.ipynb new file mode 100644 index 0000000..17632f6 --- /dev/null +++ b/AgRobotSwarmForOptimization/graph_optimization_filled_in.ipynb @@ -0,0 +1,73 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "%matplotlib ipympl\n", + "import numpy as np\n", + "from graph_optimization import Simulation, Visualizer, IPyUI\n", + "\n", + "def random_search_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " terminate = False\n", + " neighbor = neighbor_states.pop()\n", + " neighbor_cost = neighbor_costs.pop()\n", + " current_cost = optimize_sim.evaluate_state(state=current_state)\n", + " if current_cost > neighbor_cost:\n", + " return neighbor, terminate\n", + " else:\n", + " return current_state, terminate\n", + "\n", + "def stochastic_hc_successor(current_state: list, neighbor_states: list[list], neighbor_costs: list) -> [list, bool]:\n", + " current_cost = optimize_sim.evaluate_state(current_state)\n", + " neighbor_cost_deltas = [current_cost - cost for cost in neighbor_costs]\n", + " candidates = []\n", + " weights = []\n", + " for neighbor_state, neighbor_cost_delta in zip(neighbor_states, neighbor_cost_deltas):\n", + " if neighbor_cost_delta > 0:\n", + " candidates.append(neighbor_state)\n", + " weights.append(neighbor_cost_delta)\n", + "\n", + " if not candidates:\n", + " return current_state, True\n", + " successor = np.random.choice(np.array(candidates), (1, len(candidates[0])), p=np.array(weights)).tolist()\n", + "\n", + " return successor, False\n", + "\n", + "def t_schedule(t: int) -> float:\n", + " t_max = 100\n", + " return t_max - t\n", + "\n", + "MAX_ITERATIONS = 50\n", + "\n", + "optimize_sim = Simulation(graph_load_dir=\"graph\", t_schedule=t_schedule, stochastic_hc=stochastic_hc_successor, random_search=random_search_successor)\n", + "field_vis = Visualizer(optimize_sim, canvas_size=550)\n", + "ui = IPyUI(field_vis=field_vis, optimize_sim=optimize_sim, max_iterations=MAX_ITERATIONS)\n", + "ui.optimization_ui()\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + 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