修改

.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

.idea/SeAIPalette.iml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="format" value="PLAIN" />
+    <option name="myDocStringFormat" value="Plain" />
+  </component>
+</module>

.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,13 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyUnresolvedReferencesInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredIdentifiers">
+        <list>
+          <option value="runtest.ImageEditorPage" />
+          <option value="ImageEditorPage" />
+        </list>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (Palette)" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/SeAIPalette.iml" filepath="$PROJECT_DIR$/.idea/SeAIPalette.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

MainWindow_map.py

@@ -2,10 +2,8 @@
 
 # Form implementation generated from reading ui file 'MainWindow_map.ui'
 #
-# Created by: PyQt5 UI code generator 5.15.1
+# Created by: PyQt5 UI code generator 5.12.3
-#
+# WARNING! All changes made in this file will be lost!
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
-# run again.  Do not edit this file unless you know what you are doing.
 
 
 from PyQt5 import QtCore, QtGui, QtWidgets
@@ -96,6 +94,9 @@ class Ui_MainWindow(object):
         self.horizontalLayout.addLayout(self.formLayout_2)
         self.verticalLayout_2 = QtWidgets.QVBoxLayout()
         self.verticalLayout_2.setObjectName("verticalLayout_2")
+        self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.verticalLayout_2.addWidget(self.pushButton_2)
         self.pushButton_run = QtWidgets.QPushButton(self.centralwidget)
         font = QtGui.QFont()
         font.setFamily("宋体")
@@ -110,6 +111,13 @@ class Ui_MainWindow(object):
         self.pushButton_stop.setFont(font)
         self.pushButton_stop.setObjectName("pushButton_stop")
         self.verticalLayout_2.addWidget(self.pushButton_stop)
+        self.pushButton = QtWidgets.QPushButton(self.centralwidget)
+        font = QtGui.QFont()
+        font.setFamily("宋体")
+        font.setPointSize(12)
+        self.pushButton.setFont(font)
+        self.pushButton.setObjectName("pushButton")
+        self.verticalLayout_2.addWidget(self.pushButton)
         self.horizontalLayout.addLayout(self.verticalLayout_2)
         self.horizontalLayout.setStretch(0, 1)
         self.horizontalLayout.setStretch(1, 1)
@@ -149,6 +157,8 @@ class Ui_MainWindow(object):
         self.label_9.setText(_translate("MainWindow", "移动节点电池容量"))
         self.lineEdit_bettery.setText(_translate("MainWindow", "100"))
         self.label_4.setText(_translate("MainWindow", "算法选择"))
+        self.pushButton_2.setText(_translate("MainWindow", "关于我们"))
         self.pushButton_run.setText(_translate("MainWindow", "运行"))
         self.pushButton_stop.setText(_translate("MainWindow", "停止"))
+        self.pushButton.setText(_translate("MainWindow", "退出程序"))
         self.label_show.setText(_translate("MainWindow", "<html><head/><body><p><br/></p></body></html>"))

MainWindow_map.ui

@@ -157,6 +157,13 @@
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_2">
+          <item>
+           <widget class="QPushButton" name="pushButton_2">
+            <property name="text">
+             <string>关于我们</string>
+            </property>
+           </widget>
+          </item>
           <item>
            <widget class="QPushButton" name="pushButton_run">
             <property name="font">
@@ -183,6 +190,19 @@
             </property>
            </widget>
           </item>
+          <item>
+           <widget class="QPushButton" name="pushButton">
+            <property name="font">
+             <font>
+              <family>宋体</family>
+              <pointsize>12</pointsize>
+             </font>
+            </property>
+            <property name="text">
+             <string>退出程序</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </item>
        </layout>

Palette/algos/charge.py

@@ -12,7 +12,6 @@ class Charge(WildFire):
 
     def step(self, state, info):
         if not self.empty():
-            # if there're actions to do
             action = self.actions_to_do[0]
             del self.actions_to_do[0]
             return action, None

Palette/algos/multi_boustrophedon.py

@@ -23,9 +23,6 @@ class MultiBoustrophedon(Boustrophedon):
         self.charges = charges
         self.finished_idx = [False for _ in range(ship_num)]
 
-        #self.ship_energy = ship_energy
-        #self.current_ship_energy = [ship_energy for _ in range(self.ship_num)]
-
         self.delta_x = (0,  0, 1, -1, )  # 1,  1, -1, -1)
         self.delta_y = (1, -1, 0,  0, )  # 1, -1,  1, -1)
 

Palette/algos/multi_greedy.py

@@ -43,8 +43,6 @@ class MultiGreedy(Boustrophedon):
                 if self.charges[i].empty():
                     redecide_directions[i] = True
                 continue
-
-            # Decide whether charge or not
             first_charge_act, charge_len = self.charges.step(state, info, i)
             if first_charge_act == FINISHED:
                 self.finished_idx[i] = True

Palette/algos/multi_spiral.py

@@ -18,13 +18,10 @@ class MultiSpiral(Spiral):
     ):
         super().__init__()
         self.ship_num = ship_num
-        # self.dest_direction = [None for _ in range(ship_num)]
         self.wildfires = wildfires
         self.charges = charges
         self.finished_idx = [False for _ in range(ship_num)]
 
-        #self.ship_energy = ship_energy
-        #self.current_ship_energy = [ship_energy for _ in range(self.ship_num)]
 
         self.delta_x = [0,  0, 1, -1, 1,  1, -1, -1]
         self.delta_y = [1, -1, 0,  0, 1, -1,  1, -1]

Palette/algos/spiral.py

@@ -149,7 +149,6 @@ class Spiral(object):
             """
             return _turn(direction)
         else:
-            # print(f'not turn')
             return direction
 
     def step(self, state, info):

Palette/algos/wildfire.py

@@ -7,8 +7,8 @@ class WildFire(object):
     def __init__(self):
         super().__init__()
         self.actions_to_do = []
-        self.delta_x = (0,  0, 1, -1, )  # 1,  1, -1, -1)
+        self.delta_x = (0,  0, 1, -1, )
-        self.delta_y = (1, -1, 0,  0, )  # 1, -1,  1, -1)
+        self.delta_y = (1, -1, 0,  0, )
 
     @ staticmethod
     def _is_valid_index(index, an_array):
@@ -23,12 +23,9 @@ class WildFire(object):
 
     def step(self, state, info):
         if not self.empty():
-            # if there're actions to do
             action = self.actions_to_do[0]
             del self.actions_to_do[0]
             return [action]
-
-        # print(state)
         x, y, _ = state
         fields = info['fields']
 
@@ -49,7 +46,6 @@ class WildFire(object):
                     visited[next_x, next_y] = True
                     next_node = Node(next_x, next_y, cur_node)
                     if fields[next_x, next_y] == 0:
-                        # not visited
                         node = next_node
                         while node.direction is not None:
                             self.actions_to_do.append(node.direction)

Palette/env/engine.py

@@ -29,7 +29,7 @@ class SeaEnvEngine(object):
         ship_radius: int,
         ship_velocity: int,
 
-        sonar_spread_times: int,    # the number of sonar detection points
+        sonar_spread_times: int,
 
         obstacles: dict,
 
@@ -38,7 +38,7 @@ class SeaEnvEngine(object):
         show_fields: bool = True,
 
         init_ships: bool = True,
-        start_position=None,  # [start_x, start_y]
+        start_position=None,
         start_r=None,
 
         time_click: float = 1.0/10.0,
@@ -57,8 +57,8 @@ class SeaEnvEngine(object):
 
         self.max_angle, self.min_angle = None, None
 
-        # basic params
+
-        self.crashed = False    # whether or not crash into an obstacle or bound
+        self.crashed = False
         self.finished = False
         self.terminate = False
 
@@ -100,12 +100,9 @@ class SeaEnvEngine(object):
             self.ship_img = pygame.transform.scale(
                 self.ship_img, (self.ship_radius * 4, self.ship_radius * 4))
         """ 2. init gymunk """
-        # physics stuff
         self.space = pymunk.Space()
         self.space.gravity = pymunk.Vec2d(0., 0.)
-        # create bounds
+
-        # self.create_bounds(window_height, window_width)
-        # create ship
         self.finished_idx = None
         self.init_ships = init_ships
         self.battery_capacity = None
@@ -124,7 +121,6 @@ class SeaEnvEngine(object):
         self.fields = np.zeros(
             shape=(self.window_width//field_size[0], self.window_height//field_size[1]))
 
-        # create obstacles
         self.obstacles = []
         self.obstacles_w_h = []
         for obstacle_key in obstacles.keys():
@@ -132,7 +128,6 @@ class SeaEnvEngine(object):
             cur_obstacle = self.create_rectangle_obstacle(x, y, width, height)
             self.obstacles.append(cur_obstacle)
             self.obstacles_w_h.append((width, height))
-            # label the position of obstacles as -1
             for i in range(x//self.field_size[0], (x+width)//self.field_size[0]):
                 for j in range(y//self.field_size[1], (y+height)//self.field_size[1]):
                     self.fields[i, self.fields.shape[1]-j-1] = -1
@@ -200,7 +195,6 @@ class SeaEnvEngine(object):
         for s in static:
             s.friction = 1.
             s.group = 1
-            # bound is the same as obstacle for collision
             s.collision_type = COLLISION_OBSTACLE
             s.color = THECOLORS['blue']
         self.space.add(*static)
@@ -230,10 +224,8 @@ class SeaEnvEngine(object):
         self._ship_charging_time_left = [0 for _ in range(self.ship_num)]
 
     def create_rectangle_obstacle(self, x, y, width, height):
-        # points = [(0, 0), (0, height), (width, height), (width, 0)]
         points = [(-width/2, -height/2), (-width/2, height/2),
                   (width/2, height/2), (width/2, -height/2)]
-        # points = [(-width, -height), (-width, 0), (0, 0), (0, -height)]
         mass = 9999999999
         moment = pymunk.moment_for_poly(mass, points, (0, 0))
         obstacle_body = pymunk.Body(mass=mass, moment=moment)
@@ -255,7 +247,7 @@ class SeaEnvEngine(object):
         return self._ship_batteries[ship_id]
 
     def frame_step(self, actions: List[int]):
-        """frame update for one step
+        """
 
         Args:
             action (int): the next direction of the ship
@@ -270,19 +262,19 @@ class SeaEnvEngine(object):
             raise AssertionError("Cannot continue running after crash!")
 
         for ship_id, action in enumerate(actions):
-            if action == UP:  # up
+            if action == UP:
                 self._ship_charging[ship_id] = False
                 self._ship_charging_time_left[ship_id] = 0
                 self.ship_body[ship_id].angle = 1.5*np.pi
-            elif action == DOWN:   # down
+            elif action == DOWN:
                 self._ship_charging[ship_id] = False
                 self._ship_charging_time_left[ship_id] = 0
                 self.ship_body[ship_id].angle = 0.5*np.pi
-            elif action == LEFT:   # left
+            elif action == LEFT:
                 self._ship_charging[ship_id] = False
                 self._ship_charging_time_left[ship_id] = 0
                 self.ship_body[ship_id].angle = np.pi
-            elif action == RIGHT:   # right
+            elif action == RIGHT:
                 self._ship_charging[ship_id] = False
                 self._ship_charging_time_left[ship_id] = 0
                 self.ship_body[ship_id].angle = 0.0
@@ -362,7 +354,6 @@ class SeaEnvEngine(object):
 
             self.ship_body[ship_id].angle = process_angle(
                 self.ship_body[ship_id].angle)
-            # calculate velocity with direction
             driving_direction = Vec2d(1, 0).rotated(
                 self.ship_body[ship_id].angle)
 
@@ -372,7 +363,7 @@ class SeaEnvEngine(object):
             else:
                 self.ship_body[ship_id].velocity = 0.0 * driving_direction
 
-        # Update the screen and stuff.
+        # Update  
         if self.draw_screen:
             # self.screen.fill(THECOLORS["black"])
             self.screen.blit(self.ss_img, (0, 0))

Palette/env/sea_env.py

@@ -109,13 +109,7 @@ def make(
     filling_time: int = 1,
     cover_ratio: float = 1.0
 ):
-    """
+
-    if not render:
-        os.environ["SDL_VIDEODRIVER"] = "dummy"
-    else:
-        os.environ["DISPLAY"] = os.popen(
-            'printenv grep DISPLAY').read().strip()
-    """
 
     with open(os.path.join('Palette', 'maps', f'{env_config}.yaml'), 'r') as f:
         config = yaml.safe_load(f)
@@ -160,5 +154,5 @@ if __name__ == '__main__':
 
         if t:
             break
-            # sea_env.reset()
+
     print(steps)

Palette/env/utils.py

@@ -1,5 +1,4 @@
 import numpy as np
-import random
 
 from math import acos, asin
 
@@ -18,12 +17,9 @@ def process_angle(_angle):
 
 def asincos(sin_value, cos_value):
     if sin_value >= 0:
-        # 第一象限和第二象限
         return acos(cos_value)
     else:
         if cos_value >= 0:
-            # 第四象限
             return asin(sin_value)
         else:
-            # 第三象限
             return 2*np.pi - acos(cos_value)

Palette/examples/charge_multi_split_wildfire_boustrophedon.py

@@ -17,7 +17,6 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
-        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 

Palette/examples/charge_multi_split_wildfire_greedy.py

@@ -17,7 +17,6 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
-        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 
@@ -29,7 +28,6 @@ def main(env: SeaEnv, agent: MultiGreedy):
     while True:
         steps += 1
         info['redecide_direction'] = redecide_direction
-        # print(np.sum(info['fields'] == 0))
         agents_fields = generate_agent_fields(
             info['fields'], env.ship_num, env.splited_areas)
         agent_info = deepcopy(info)

Palette/examples/charge_multi_split_wildfire_spiral.py

@@ -17,7 +17,6 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
-        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 

Palette/examples/multi_split_wildfire_boustrophedon.py

@@ -18,7 +18,6 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
-        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 

Palette/examples/split.py

@@ -25,8 +25,6 @@ def main(env: SeaEnv, agent: Union[Boustrophedon, Spiral], wildfire: WildFire):
         redecide_direction = True
         cur_area_terminate = False
         while True:
-            # for _ in range(9999999):
-            #    continue
             info['redecide_direction'] = redecide_direction
             modified_fields = deepcopy(info['fields'])
             modified_fields += ((splited_area != area_id)

Palette/maps/map0.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles:
     obstacle0: [100, 100, 100, 200]
     obstacle1: [300, 160, 120, 120]
     obstacle2: [460, 460, 120, 120]

Palette/maps/map1.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles:
     obstacle0: [100, 600, 100, 200]
     obstacle1: [300, 360, 120, 120]
     obstacle2: [660, 460, 120, 120]

Palette/maps/map2.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles:
     obstacle0: [100, 600, 100, 200]
     obstacle1: [300, 260, 120, 320]
     obstacle2: [660, 460, 120, 120]

Palette/maps/map_actual.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 1
   ship_velocity: 40
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles: 
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/map_actual_show.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles:
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/map_actual_with_around.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 1
   ship_velocity: 40
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles:
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/map_actual_with_around_show.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles:
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/multi_map0.yaml

@@ -3,16 +3,11 @@ env:
   window_width: !!int 1000
   window_height: !!int 1000
   field_size: [20, 20]
-  #start_position:
+
-  #  ship0: [10, 10]
-  #  ship1: [990, 990]
-  #start_r:
-  #  ship0: !!float 0.0 # pi
-  #  ship1: !!float 1.0 # pi
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
+  obstacles:
     obstacle0: [100, 100, 100, 200]
     obstacle1: [300, 160, 120, 120]
     obstacle2: [460, 460, 120, 120]

README.md

@@ -4,16 +4,16 @@ SeAI Palette集智调色板是面向集群网络的多节点智能协同路径
 
 集智调色板软件设计了参数输入模块、算法运行模块及信息输出模块，在不同节点数量要求的前提下划分区域方向，按区域进行算法的运行。并可以综合考虑固定节点、覆盖率、电池容量等条件下，给出运行步数、重复步数和重复率等等性能指标。
 
-软件界面简单，易学已用，包含参数的输入选择，程序的运行，算法结果的展示等，源代码公开，算法可修改。
+软件界面简单，易学易用，包含参数的输入选择，程序的运行，算法结果的展示等，源代码公开，算法可修改。
 
-开发人员：H.P. Yu、K. Wang、J. Li、H.T. Li、Z.Q. Wang、Z.Y. Zhao、L.F. Zhang、G. Chen
+开发人员：王凯、于化鹏、李晶、王兆琦、李慧涛、赵志允、张乐飞、陈光
 
 ## 1. 开发环境配置
 运行以下命令：
 ```bash
 conda env create -f create_env.yaml
 ```
-该命令会创建一个名为`Palette`的conda虚拟环境，用`conda activate Palette`即可激活该虚拟环境。
+该命令会根据create_env.yaml配置文件创建一个名为`Palette`的conda虚拟环境，继续输入`conda activate Palette`即可激活该虚拟环境。
 
 
 ## 2. 软件运行
@@ -21,9 +21,8 @@ conda env create -f create_env.yaml
 ```python
 python main_tt.py
 ```
-
 ## 3. 一些说明
-1. 程序输出的说明
+1. 关于程序输出的说明
 
     程序运行结束后会在命令行输出类似于下面的结果：
     ```

main_tt.py

@@ -3,7 +3,6 @@ from MainWindow_map import Ui_MainWindow
 from PyQt5 import QtWidgets, QtCore, QtSql, QtGui
 from PyQt5.QtWidgets import *
 from PyQt5.QtCore import *
-from PyQt5.QtGui import QPixmap
 
 import threading, time, subprocess
 
@@ -122,6 +121,5 @@ class mywindow(QtWidgets.QMainWindow, Ui_MainWindow):
 if __name__ == '__main__':
     app = QApplication(sys.argv)
     window = mywindow()
-    # window.showMaximized()
     window.show()
     sys.exit(app.exec_())