relinking after changing route parameters

.gitignore

@@ -3,6 +3,9 @@ __pycache__/
 *.py[cod]
 *$py.class
 
+# unknown
+.DS_Store
+
 # C extensions
 *.so
 

tests/test_relinking.py

@@ -0,0 +1,99 @@
+import pytest
+import copy
+# path
+from pathlib import Path
+
+# make sure relinked paths are same as those completely recalculated
+
+@pytest.fixture
+def stanford(speed):
+ """test solver class """
+ # build survey test fixture
+ from wadl.survey import Survey
+ from wadl.solver.solver import SolverParameters
+ from wadl.lib.route import RouteParameters
+
+ # make survey object
+ path = Path(__file__).parent / "out"
+ survey = Survey('stanford', path)
+ file = Path(__file__).parent.parent / "example" / "data" / "stanford.csv"
+
+ # make survey
+ name = 'stanford'
+ survey = Survey(name)
+
+ # add the keypoints
+ keyPoints = {"oval": (37.4298541, -122.1694745),
+ "MSL": (37.4266113, -122.173492)
+ }
+ survey.setKeyPoints(keyPoints)
+
+ # route paramters
+ routeParams = RouteParameters()
+ routeParams["limit"] = 30*60, # s
+ routeParams["speed"] = speed # m/s
+ routeParams["altitude"] = 50.0 # m
+ # add the tasks
+
+ survey.addTask(file,
+ step=100,
+ home=["oval", "MSL"],
+ routeParameters=routeParams,
+ )
+
+ # solver parameters
+ solverParams = SolverParameters()
+ solverParams["subGraph_size"] = 20
+ solverParams["SATBound_offset"] = 4
+ solverParams["timeout"] = 30
+
+ # set the solver parameters
+ survey.setSolverParamters(solverParams)
+
+ return survey
+
+def relink():
+ '''
+ resets route speed twice, and verifies new number of routes is same as would be originally recalculated
+ '''
+ from wadl.lib.route import RouteParameters
+ file = Path(__file__).parent.parent / "example" / "data" / "stanford.csv"
+
+ survey = stanford(5)
+
+ survey.plan(write=False)
+
+ initial = len(survey.tasks[file].routeSet)
+
+ # reset route paramters
+ routeParams = RouteParameters()
+ routeParams["speed"] = 500 # m/s
+
+ survey.relink(routeParams, showPlot=True)
+
+ # corroborate with initial speed 500
+
+ surveyComp = stanford(500)
+ surveyComp.plan(write=False)
+
+ # subtracts initial number of routes because routeSet isn't being rewritten during relinking
+ secondary = len(survey.tasks[file].routeSet)-initial
+
+ assert(len(surveyComp.tasks[file].routeSet) == len(survey.tasks[file].routeSet)-initial), "# routes mismatch"
+
+ # reset route paramters
+ routeParams = RouteParameters()
+ routeParams["speed"] = 100 # m/s
+
+ survey.relink(routeParams, showPlot=True)
+
+ surveyComp = stanford(100)
+ surveyComp.plan(write=False)
+
+ assert(len(surveyComp.tasks[file].routeSet) == len(survey.tasks[file].routeSet)-initial-secondary), "# routes mismatch"
+
+
+
+
+
+

wadl/solver/solver.py

@@ -1,6 +1,7 @@
 # gen
 import time
 import logging
+import copy
 # lib
 from wadl.solver.SATproblem import SATproblem
 from wadl.solver.metaGraph import MetaGraph
@@ -85,9 +86,10 @@ def setup(self, graph):
  def solve(self, routeSet):
  startTime = time.time()
  # solve each tile
- subPaths = self.solveTiles()
+ # save subPaths, metaGraph after initially found so that they can be reused
+ self.subPaths = self.solveTiles()
  # merge tiles based on the metaGraph selection
- self.mergeTiles(subPaths, routeSet)
+ self.mergeTiles(self.subPaths, routeSet)
  # return solution time
  solveTime = time.time()-startTime
  self.logger.info("solution time: {:2.5f} sec".format(solveTime))

wadl/survey.py

@@ -1,11 +1,14 @@
 #!bin/bash/python3
 from pathlib import Path
+# deep copying
+import copy
 import logging
 # plot
 import matplotlib.pyplot as plt
 # gis
 import utm
 # lib
+from wadl.lib.route import RouteSet
 from wadl.lib.maze import Maze
 from wadl.solver.solver import LinkSolver
 from wadl.mission import Mission
@@ -22,7 +25,8 @@ class Survey(object):
 
  def __init__(self, name="survey", outDir=None):
  # get solver
- self.solver = LinkSolver()
+ self.solvers = dict()
+ #self.solver = LinkSolver()
  # save the name of the survey
  self.name = name
  # make the output directory
@@ -89,6 +93,8 @@ def addTask(self, file, **kwargs):
  kwargs["home"] = None
 
  self.tasks[file] = Maze(file, **kwargs)
+ # add to solvers
+ self.solvers[self.tasks[file]] = LinkSolver()
 
  def __getitem__(self, idx):
  key = [*self.tasks][idx]
@@ -100,6 +106,7 @@ def __iter__(self):
  def at(self, sliced):
  return self.__getitem__(sliced)
 
+ # where is this used?
  def setSolver(self, solver):
  self.solver = solver
 
@@ -110,7 +117,9 @@ def setSolverParamters(self, parameters):
  parameters (SolverParamters): sets the solver settings
 
  """
- self.solver.parameters = parameters
+ for task, maze in self.tasks.items():
+ self.solvers[maze].parameters = parameters
+ #self.solver.parameters = parameters
 
  def setKeyPoints(self, points):
  """Set the keyPoints in the survey.
@@ -157,19 +166,27 @@ def view(self, showGrid=True, save=None):
  else:
  plt.show()
 
- def plan(self, write=True, showPlot=False):
+ def plan(self, write=True, showPlot=False, relinking=False):
  """ Plan the survey.
 
  Args:
  write (bool): write the paths as csv file and save the plot of
  the route. default True
  showPlot (bool): show the plot of the routes. default False.
  """
+ # create dict mapping maze to solver
+ #self.solvers = dict()
  for task, maze in self.tasks.items():
- self.solver.setup(maze.graph)
- try:
- solTime = self.solver.solve(routeSet=maze.routeSet)
+
+ #self.solver.setup(maze.graph)
+ self.solvers[maze].setup(maze.graph)
+
+ try: # issue: maze is changed in setup
+ solTime = self.solvers[maze].solve(routeSet=maze.routeSet)
+ #solTime = self.solver.solve(routeSet=maze.routeSet)
  maze.solTime = solTime
+ # store copy of paths
+ #self.solvers[maze] = copy.deepcopy(self.solver)
  maze.calcRouteStats()
  if write:
  maze.write(self.outDir)
@@ -181,6 +198,32 @@ def plan(self, write=True, showPlot=False):
  self.logger.info(f"task {maze.name} finished")
  self.logger.info("done planning")
 
+ # plot
+ self.plot(showPlot)
+ # call shutdowns
+ if (not relinking):
+ self.close()
+
+ def relink(self, routeParameters, write=True, showPlot=False):
+ # reset route parameters and relink subPaths
+ for task, maze in self.tasks.items():
+ curSolver = self.solvers[maze]
+ #curSolver.metaGraph = copy.deepcopy(curSolver.metaGraphCopy) # dont need?
+
+ maze.routeSet.routeParameters = routeParameters
+
+ try:
+ curSolver.mergeTiles(curSolver.subPaths, maze.routeSet)
+ maze.calcRouteStats()
+ if write:
+ maze.write(self.outDir)
+ except RuntimeError as e:
+ self.logger.error(f"failure in task: {maze.name}")
+ print(e)
+ print("\n")
+ self.logger.info(f"task {maze.name} finished")
+ self.logger.info("done planning")
+
  # plot
  self.plot(showPlot)
  # call shutdowns and free stuff