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import time |
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import pandas as pd |
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import pydeck as pdk |
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import streamlit as st |
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from filter_wrap import FilterWrapper |
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from distribution_wrap import DistriWrapper |
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from redux_wrap import ReduxWrapper |
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from symetry_wrap import SymetryWrapper |
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from rotate_wrap import RotateWrapper |
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from sort_wrap import SortWrapper |
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from team_wrap import TeamWrapper |
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from reward_wrap import RewardWrapper |
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from monitor_wrap import MonitorWrapper |
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from runner import run_episode |
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from settings import Settings, define_ |
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import param_ |
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from swarmenv import SwarmEnv |
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def run(with_streamlit=True, blues: int = 4, reds: int = 6, policy_folder: str = 'reds_last'): |
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Settings.policy_folder = policy_folder |
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blues, reds = define_(with_streamlit=with_streamlit, blues=blues, reds=reds) |
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deck_map, initial_view_state = pre_show(with_streamlit=with_streamlit) |
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steps = int(param_.DURATION / param_.STEP) |
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monitor_env = MonitorWrapper(SwarmEnv(blues=blues, reds=reds), steps) |
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env = FilterWrapper(monitor_env) |
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env = DistriWrapper(env) |
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env = ReduxWrapper(env) |
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env = SortWrapper( |
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SymetryWrapper( |
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RotateWrapper(env))) |
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env = RewardWrapper(TeamWrapper(env, is_double=True), is_double=True) |
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obs = env.reset() |
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run_episode(env, obs, blues=blues, reds=reds) |
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print('done') |
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if with_streamlit: |
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show(monitor_env, deck_map, initial_view_state) |
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def pre_show(with_streamlit=True): |
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if with_streamlit: |
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deck_map = st.empty() |
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pitch = st.slider('pitch', 0, 100, 50) |
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lat, lon = Settings.latlon |
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initial_view_state = pdk.ViewState( |
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latitude=lat, |
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longitude=lon, |
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zoom=13, |
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pitch=pitch |
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) |
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return deck_map, initial_view_state |
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else: |
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return 0, 0 |
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def show(monitor_env, deck_map, initial_view_state): |
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blue_df, red_df, fire_df, blue_path_df, red_path_df = monitor_env.get_df() |
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step_max = monitor_env.step_ |
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for step in range(step_max): |
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deck_map.pydeck_chart(pdk.Deck( |
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map_provider="mapbox", |
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map_style='mapbox://styles/mapbox/light-v9', |
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initial_view_state=initial_view_state, |
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layers=get_layers(blue_df, |
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red_df, |
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blue_path_df, |
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red_path_df, |
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step) |
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)) |
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time.sleep(param_.STEP*param_.SIMU_SPEED) |
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def get_layers(df_blue: pd.DataFrame, df_red: pd.DataFrame, |
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df_blue_path: [pd.DataFrame], df_red_path: [pd.DataFrame], |
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step) -> [pdk.Layer]: |
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lat, lon = Settings.latlon |
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df_target = pd.DataFrame({'lat': [lat], 'lon': [lon]}) |
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layers_ = get_target_layers(df_target) |
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for (df, dfp, b) in [(df_blue, df_blue_path, True), (df_red, df_red_path, False)]: |
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layers_.append(get_current_drone_layers(df, step)) |
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nb_drones = df['d_index'].max() + 1 |
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for drone_index in range(nb_drones): |
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layers_.append(get_path_layers(dfp[drone_index], step)) |
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return layers_ |
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def get_target_layers(df_target) -> [pdk.Layer]: |
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return [ |
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pdk.Layer( |
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'ScatterplotLayer', |
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data=df_target, |
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get_position='[lon, lat]', |
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get_color='[0, 120, 0]', |
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get_radius=Settings.groundzone, |
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get_line_width=50, |
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lineWidthMinPixels=2, |
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stroked=True, |
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filled=False, |
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), |
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pdk.Layer( |
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'ScatterplotLayer', |
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data=df_target, |
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get_position='[lon, lat]', |
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get_color='[0, 0, 200]', |
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get_radius=30, |
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), |
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] |
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def get_current_drone_layers(df_drone: pd.DataFrame, step: int) -> [pdk.Layer]: |
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df_current = df_drone[df_drone.step == step] |
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return [ |
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pdk.Layer( |
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'ScatterplotLayer', |
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data=df_current, |
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get_position='[lon, lat, zed]', |
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get_color='color', |
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get_radius=50, |
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), |
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pdk.Layer( |
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'ScatterplotLayer', |
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data=df_current, |
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get_position='[lon, lat]', |
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get_color=[50, 50, 50, 50], |
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get_radius=50, |
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), |
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] |
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def get_path_layers(df_path: pd.DataFrame, step: int) -> [pdk.Layer]: |
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df_current = df_path[df_path.step == step] |
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return [ |
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pdk.Layer( |
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type="PathLayer", |
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data=df_current, |
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pickable=True, |
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get_color="color", |
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width_scale=10, |
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width_min_pixels=1, |
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get_path="path", |
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get_width=1, |
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) |
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] |
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run(with_streamlit=True, policy_folder='last') |
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