diff --git a/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md b/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md index 3983bcd0..d080e673 100644 --- a/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md +++ b/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md @@ -1,22 +1,28 @@ # PolarRoute Pull Request Template Date: -Version Number: +Version Number: ## Description of change -Fixes # (issue) +## Fixes # (issue) # Testing -To ensure that the functionality of the PolarRoute codebase remains consistent throughout the development cycle a testing strategy has been developed, which can be viewed in the document `.github/PULL_REQUEST_TEMPLATE/testing_strategy.md`. +To ensure that the functionality of the PolarRoute codebase remains consistent throughout the development cycle a testing strategy has been developed, which can be viewed in the document `test/testing_strategy.md`. This includes a collection of test files which should be run according to which part of the codebase has been altered in a pull request. Please consult the testing strategy to determine which tests need to be run. +- [ ] My changes have not altered any of the files listed in the testing strategy - [ ] My changes result in all required regression tests passing without the need to update test files. + +> *list which files have been altered and include a pytest.txt file for each of +> the tests required to be run* +> +> The files which have been changed during this PR can be listed using the command -> *include pytest.txt file showing all tests passing.* + git diff --name-only 0.2.x - [ ] My changes require one or more test files to be updated for all regression tests to pass. diff --git a/.gitignore b/.gitignore index 1715a4e9..a096f688 100644 --- a/.gitignore +++ b/.gitignore @@ -17,6 +17,7 @@ TestingNotebook.ipynb *.output.*json setup.cfg pip.sh +datastore ./datastore/* datastore/* configs/* diff --git a/README.md b/README.md index f379ffc7..b4a52ed7 100644 --- a/README.md +++ b/README.md @@ -8,13 +8,14 @@ License # PolarRoute -> PolarRoute is a long-distance maritime polar route planning, taking into account complex changing environmental conditions. The codebase allows the construction of optimised routes through three main stages: discrete modelling of the environmental conditions using a non-uniform mesh, the construction of mesh-optimal paths, and physics informed path smoothing. In order to account for different vehicle properties we construct a series of data driven functions that can be applied to the environmental mesh to determine the speed limitations and fuel requirements for a given vessel and mesh cell, representing these quantities graphically and geospatially. +PolarRoute is a long-distance maritime polar route planning package, taking into account complex changing environmental conditions. The codebase allows the construction of optimised routes through three main stages: discrete modelling of the environmental conditions using a non-uniform mesh, the construction of mesh-optimal paths, and physics informed path smoothing. In order to account for different vehicle properties we construct a series of data driven functions that can be applied to the environmental mesh to determine the speed limitations and fuel requirements for a given vessel and mesh cell, representing these quantities graphically and geospatially. ## Installation -The PolarRoute software requires GDAL files to be installed. The PolarRoute software can be installed on Windows by running the required wheels for GDAL and FIONA. MOre information can be found in the manual pages linked above. Once these requirements are met then the software can be installed by: +The PolarRoute package requires GDAL files to be installed. This software can be installed on Windows by running the required wheels for GDAL and FIONA. More information can be found in the manual pages linked above. Once these requirements are met then the software can be installed by: Github: ``` +git clone https://github.com/Antarctica/PolarRoute python setup.py install ``` @@ -23,6 +24,8 @@ python setup.py install pip install polar-route ``` +> NOTE: The installation process may vary slightly dependent on OS. Please consult the documentation for further installation guidance. + ## Required Data sources Polar-route has been built to work with a variety of open-source atmospheric and oceanographic data sources. A list of supported data sources and their associated data-loaders is given in the @@ -45,7 +48,7 @@ rm -r docs/build/.doctrees/ Jonathan Smith, Samuel Hall, George Coombs, James Byrne, Michael Thorne, Maria Fox, Harrison Abbot, Ayat Fekry ## Collaboration -We are currently assessing the best pratice for collaboration on the codebase, until then please contact [marfox@bas.ac.uk](marfox@bas.ac.uk) or [jonsmi@bas.ac.uk](jonsmi@bas.ac.uk) for further info. +We are currently assessing the best practice for collaboration on the codebase, until then please contact [polarroute@bas.ac.uk](polarroute@bas.ac.uk) for further info. ## License diff --git a/docs/html/.buildinfo b/docs/html/.buildinfo index 5b9e2d90..a6ba2ee4 100644 --- a/docs/html/.buildinfo +++ b/docs/html/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. 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b/docs/html/.doctrees/sections/Vehicle_specifics.doctree index f67d823e..4441d148 100644 Binary files a/docs/html/.doctrees/sections/Vehicle_specifics.doctree and b/docs/html/.doctrees/sections/Vehicle_specifics.doctree differ diff --git a/docs/html/.doctrees/sections/running.doctree b/docs/html/.doctrees/sections/running.doctree deleted file mode 100644 index 05c3e3b0..00000000 Binary files a/docs/html/.doctrees/sections/running.doctree and /dev/null differ diff --git a/docs/html/_sources/index.rst.txt b/docs/html/_sources/index.rst.txt index ab8198a2..97b3ae7e 100644 --- a/docs/html/_sources/index.rst.txt +++ b/docs/html/_sources/index.rst.txt @@ -1,19 +1,34 @@ -Welcome RoutePlanner Manual Pages -===================================== +Welcome to the PolarRoute Manual Pages +====================================== + +PolarRoute is a tool for the optimisation of routes for maritime vehicles travelling in polar waters. +This software package has been developed by the **British Antarctic Survey** (BAS), primarily +for the optimisation of polar routes for the BAS research vessel RRS Sir David Attenborough, +though it is applicable to any vessel (e.g. AUVs). The software is written in Python and is open source. + +For more information on the project, please visit the `PolarRoute website `_ +and follow our `GitHub repository `_. + + +.. note:: The development of this codebase is ongoing and not yet complete. + Please contact the developers for more information. Contents: .. toctree:: - :maxdepth: 1 + :maxdepth: 2 :numbered: - ./sections/Code_structure + ./sections/Code_overview ./sections/Installation - ./sections/running - ./sections/Configuration - ./sections/Dataloaders/overview + ./sections/ipython_notebooks + ./sections/Command_line_interface + ./sections/Configuration/Configuration_overview ./sections/Outputs - ./sections/Examples - ./sections/Discrete_meshing + ./sections/Dataloaders/overview + ./sections/Mesh_Construction/Mesh_construction_overview ./sections/Vehicle_specifics + ./sections/Route_calculation ./sections/Route_optimisation + ./sections/Examples + diff --git a/docs/html/_sources/sections/Configuration.rst.txt b/docs/html/_sources/sections/Configuration.rst.txt deleted file mode 100644 index 89d14615..00000000 --- a/docs/html/_sources/sections/Configuration.rst.txt +++ /dev/null @@ -1,350 +0,0 @@ -.. _configuration: - -"""""""""""""""""""""""" -Input - Configuration -"""""""""""""""""""""""" - -In this section we will outline the standard structure for a configuration file used in all portions of the PolarRoute software package. - -Outlined below is an example configuration file for running PolarRoute. Using this as a template we will go through each of the definitions in turn, describing what each portion does with the subsections in the manual given by the main sections in the configuration file. - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Mesh Construction configuration file example. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -:: - - "config": { - "Mesh_info": { - "Region": { - "latMin": -65, - "latMax": -60, - "longMin": -70, - "longMax": -50, - "startTime": "2013-03-01", - "endTime": "2013-03-14", - "cellWidth": 5, - "cellHeight": 2.5 - }, - "Data_sources": [ - { - "loader": "GEBCO", - "params": { - "downsample_factors": [ - 5, - 5 - ], - "file": "../datastore/bathymetry/GEBCO/gebco_2022_n-40.0_s-90.0_w-140.0_e0.0.nc", - "data_name": "elevation", - "value_fill_types": "parent", - "aggregate_type": "MAX", - "splitting_conditions": [ - { - "elevation": { - "threshold": -10, - "upper_bound": 1, - "lower_bound": 0 - } - } - ] - } - }, - { - "loader": "AMSR_folder", - "params": { - "folder": "../datastore/sic/amsr_south/", - "hemisphere": "south", - "value_fill_types": "parent", - "data_name": "SIC", - "splitting_conditions": [ - { - "SIC": { - "threshold": 35, - "upper_bound": 0.9, - "lower_bound": 0.1 - } - } - ] - } - }, - { - "loader": "SOSE", - "params": { - "file": "../datastore/currents/sose_currents/SOSE_surface_velocity_6yearMean_2005-2010.nc", - "value_fill_types": "parent", - "data_name": "uC,vC" - } - }, - { - "loader": "thickness", - "params": { - "data_name": "thickness", - "file": "", - "value_fill_types": "parent" - } - }, - { - "loader": "density", - "params": { - "data_name": "density", - "file": "", - "value_fill_types": "parent" - } - } - ], - "splitting": { - "split_depth": 4, - "minimum_datapoints": 5 - } - } - } - -The configuration file used for mesh construction contains information required to build the discretised environment in which the route planner -operates. Information here dictates the region in which the mesh is constructed, the data contained within -the mesh and how the mesh is split to a non-uniform resolution. The configuration file used to generate a mesh is stored in a section titled 'Mesh_info' - -The 'Mesh_info' section of the configuration file contains three primary sections: - -################ -Region -################ -The region section gives detailed information for the construction of the Discrete Mesh. The main definitions are the bounding region and temporal portion of interest (`longMin`, `latMin`, `longMax`, `latMax`, `startTime`, `endTime`), but also the starting shape of the spatial grid cell boxes (`cellWidth`, `cellHeight`) is defined before splitting is applied. Further detail on each parameter is given below: - -:: - - "Region": { - "latMin": -77.5, - "latMax": -55, - "longMin": -120, - "longMax": -10, - "startTime": "2017-02-01", - "endTime": "2017-02-14", - "cellWidth":5, - "cellHeight":2.5 - } - -where the variables are as follows: - -* **longMin** *(float, degrees)* : Minimum Longitude Edge Mesh -* **longMax** *(float, degrees)* : Maximum Longitude Edge Mesh -* **latMin** *(float, degrees)* : Minimum Latitude Edge Mesh -* **latMax** *(float, degrees)* : Maximum Latitude Edge Mesh -* **startTime** *(string, 'YYYY-mm-dd')* : Start Datetime of Time averaging -* **endTime** *(string, 'YYYY-mm-dd')* : End Datetime of Time averaging -* **cellWidth** *(float, degrees)* : Initial Cell Box Width prior to splitting -* **cellHeight** *(float, degrees)* : Initial Cell Box Height prior to splitting - -.. note:: - Variables **startTime** and **endTime** also support reference to system time using - the keyword **TODAY** *e.g.* - - "startTime": "TODAY" , "endTime": "TODAY + 5" - - "startTime": "TODAY - 3", "endTime": "TODAY" - -################# -Data_sources -################# - -The 'Data_sources' section of the configuration file dictates which information will be added to the -mesh when constructed. Each item in the list of data sources represents a single data set to be added -to the mesh. - -:: - - "Data_sources": [ - { - "loader": "GEBCO", - "params": { - "downsample_factors": [ - 5, - 5 - ], - "file": "../datastore/bathymetry/GEBCO/gebco_2022_n-40.0_s-90.0_w-140.0_e0.0.nc", - "data_name": "elevation", - "value_fill_types": "parent", - "aggregate_type": "MAX", - "splitting_conditions": [ - { - "elevation": { - "threshold": -10, - "upper_bound": 1, - "lower_bound": 0 - } - } - ] - } - }, - { - "loader": "AMSR_folder", - "params": { - "folder": "../datastore/sic/amsr_south/", - "hemisphere": "south", - "value_fill_types": "parent", - "data_name": "SIC", - "splitting_conditions": [ - { - "SIC": { - "threshold": 35, - "upper_bound": 0.9, - "lower_bound": 0.1 - } - } - ] - } - }, - { - "loader": "SOSE", - "params": { - "file": "../datastore/currents/sose_currents/SOSE_surface_velocity_6yearMean_2005-2010.nc", - "value_fill_types": "parent", - "data_name": "uC,vC" - } - }, - { - "loader": "thickness", - "params": { - "data_name": "thickness", - "file": "", - "value_fill_types": "parent" - } - }, - { - "loader": "density", - "params": { - "data_name": "density", - "file": "", - "value_fill_types": "parent" - } - } - ] - - -where the variables are as follows: - - -* **loader** *(string)* : The name of the data loader to be used to add this data source to the mesh - see the :ref:`abstractScalarDataloader doc page` for further information about the available data loaders. -* **params** *(dict)* : A dictionary containing optional parameters which may be required by the specified data loader in 'loader'. These parameters include the following: - - * **splitting_conditions** *(list)* : The conditions which determine if a cellbox should be split. - * **threshold** *(float)* : The threshold above or below which CellBoxes will be sub-divided to separate the datapoints into homogeneous cells. - * **upperBound** *(float)* : A percentage normalised between 0 and 1. A CellBox is deemed homogeneous if greater than this percentage of data points are above the given threshold. - * **lowerBound** *(float)* : A percentage normalised between 0 and 1. A Cellbox is deemed homogeneous if less than this percentage of data points are below the given threshold. - * **value_fill_types** *(string)* : Determines the actions taken if a cellbox is generated with no data. The possible values are either parent (which implies assigning the value of the parent cellbox), zero or nan. - * **aggregate_type** *(string)* : Specifies how the data within a cellbox will be aggregated. By default aggregation takes place by calculating the mean of all data points within the CellBoxes bounds. *aggregate_type* allows this default to be changed to other aggregate function (e.g. MIN, MAX, COUNT). - - -.. note:: - splitting conditions are applied in the order they are specified in the configuration file. - - -############## -splitting -############## - -Non-uniform mesh refinement is done by selectively sub-dividing cells. Cell sub-division is performed -whenever a cell (of any size) is determined to be inhomogeneous with respect to a specific characteristic -of interest such as SIC or ocean depth (this characteristic is defined as a splitting condition inside the data source's params as illustrated above). For example, considering SIC, we define a range, from a lower bound -*lb* to an upper bound *ub*, and a threshold, *t*. Then, a cell is considered inhomogeneous if between *lb* and *ub* -of the ice measurements in that cell are at *t%* or higher. If the proportion of ice in the cell above the -*t%* concentration is below *lb%*, we consider the cell to be homogeneous open water: such a cell can be navigated -through so does not require splitting based on this homogeneity condition (though may still be split based on others). -At the other end of the range, if the proportion is greater than *ub%*, then the cell is considered -homogeneous ice: such a cell cannot be navigated through and will not be split on this or any subsequent splitting conditions. -If the proportion is between these bounds, then the cell is inhomogeneous and must be split so that the homogeneous sub-cells can be found. - -The splitting section of the Configuration file defines the splitting parameters that are *common* across all the data sources and determines how the CellBoxes that form the -Mesh will be sub-divided based on the homogeneity of the data points contained within to form a mesh -of non-uniform spatial resolution. -:: - - "splitting": { - "split_depth":4, - "minimum_datapoints":5 - } - -where the variables are as follows: - -* **split_depth** *(float)* : The number of times the MeshBuilder will sub-divide each initial cellbox (subject to satisfying the splitting conditions of each data source) -* **minimum_datapoints** *(float)* : The minimum number of datapoints a cellbox must contain for each value type to be able to split - - - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Vessel Performance configuration file example. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -The Vessel configuration file provides all the necessary information about the vessel that will execute -the routes such that performance parameters (e.g. speed or fuel consumption) can be calculated by the -`VesselPerformanceModeller` class. A file of this structure is also used as a command line argument for -the 'add_vehicle' entry point. - -:: - - { - "VesselType": "SDA", - "MaxSpeed": 26.5, - "Unit": "km/hr", - "Beam": 24.0, - "HullType": "slender", - "ForceLimit": 96634.5, - "MaxIceConc": 80, - "MinDepth": -10 - } - -Above are a typical set of configuration parameters used for a vessel where the variables are as follows: - -* **VesselType** *(string)* : The specific vessel class to use for performance modelling. -* **MaxSpeed** *(float)* : The maximum speed of the vessel in open water. -* **Unit** *(string)* : The units of measurement for the speed of the vessel (currently only "km/hr" is supported). -* **Beam** *(float)* : The beam (width) of the ship in metres. -* **HullType** *(string)* : The hull profile of the ship (should be one of either "slender" or "blunt"). -* **ForceLimit** *(float)* : The maximum allowed resistance force, specified in Newtons. -* **MaxIceConc** *(float)* : The maximum Sea Ice Concentration the vessel is able to travel through given as a percentage. -* **MinDepth** *(float)* : The minimum depth of water the vessel is able to travel through in metres. Negative values correspond to a depth below sea level. - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Route Planning configuration file example. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -:: - - { - "Route_Info": { - "Objective_Function": "traveltime", - "Path_Variables": [ - "fuel", - "traveltime" - ], - "WayPoints": "./WayPoints_org.csv", - "Source_Waypoints": ["LongPathStart"], - "End_Waypoints": [], - "Vector Names": ["uC","vC"], - "Zero_Currents": false, - "Variable_Speed": true, - "Time_Unit": "days", - "Early_Stopping_Criterion": true, - "Save_Dijkstra_Graphs": false, - "Smooth Path":{ - "Max Iteration Number":1000, - "Minimum Difference": 1e-3 - } - } - } - -above is a typical set of configuration parameters used for route planning where the variables are as follows: - -* **objective_function** *(string)* : Defining the objective function to minimise for the construction of the mesh based Dijkstra routes. This variable can either be defined as 'traveltime' or 'fuel' . -* **path_variables** *(list<(string)>)* : A list of strings of the route variables to return in the output geojson. -* **waypoints_path** *(string)* : A filepath to a CSV containing the user defined waypoints with columns including: 'Name','Lat',"Long" -* **source_waypoints** *(list<(string)>)*: The source waypoints to define the routes from. The names in this list must be the same as names within the `waypoints_path` file. If left blank then routes will be determined from all waypoints. -* **end_waypoints** *(list<(string)>)* : The end waypoints to define the routes to. The names in this list must be the same as names within the `waypoints_path` file. If left blank then routes will be determined to all waypoints. -* **vector_names** *(list<(string)>)* : The definition of the horizontal and vertical components of the vector acting on the ship within each CellBox. These names must be within the 'cellboxes'. -* **zero_currents** *(bool)* : For development use only. Removes the effect of currents acting on the ship, setting all current vectors to zero. -* **Variable_Speed** *(bool)* : For development use only. Removes the effect of variable speed acting on the ship, ship speed set to max speed defined by 'Vessel':{'Speed':...}. -* **time_unit** *(string)* : The time unit to output the route path information. Currently only takes 'days', but will support 'hrs' in future releases. -* **early_stopping_criterion** *(bool)* : For development use only. Dijkstra early stopping criterion. For development use only if the full objective_function from each starting waypoint is required. Should be used in conjunction with `save_dijkstra_graphs`. -* **save_dijkstra_graphs** *(bool)* : For development use only. Saves the full dijkstra graph representing the objective_function value across all mesh cells. -* **Smooth Path** - * **max_iteration_number** *(int)* : For development use only. Maximum number of iterations in the path smoothing. For most paths convergence is met 100x earlier than this value. - * **minimum_difference** *(float)* : For development use only. Minimum difference between two path smoothing iterations before convergence is triggered - diff --git a/docs/html/_sources/sections/Dataloaders/DataLoaderInterface.rst.txt b/docs/html/_sources/sections/Dataloaders/DataLoaderInterface.rst.txt index 33481f32..a45467fd 100644 --- a/docs/html/_sources/sections/Dataloaders/DataLoaderInterface.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/DataLoaderInterface.rst.txt @@ -9,5 +9,5 @@ only get_hom_condition() and get_value() are needed realistically. Other methods implemented in the :ref:`abstractScalar` and :ref:`abstractVector` dataloaders. -.. automodule:: polar_route.dataloaders.dataLoaderInterface +.. automodule:: polar_route.dataloaders.dataloader_interface :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/Factory.rst.txt b/docs/html/_sources/sections/Dataloaders/Factory.rst.txt index 3207bae1..51fbe999 100644 --- a/docs/html/_sources/sections/Dataloaders/Factory.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/Factory.rst.txt @@ -22,14 +22,16 @@ a parameter the dataloader requires. The actions are: #. Import the dataloader #. Add an entry to the :code:`dataloader_requirements` dictionary -#. (OPTIONAL) Add a default value to :code:`set_default_params()` ^^^^^^^ Example ^^^^^^^ In this example, a new scalar dataloader `myScalarDataloader` has been created, and is located at :code:`polar_route/Dataloaders/Scalar/myScalarDataloader.py`. -The only parameter required by this dataloader is a file to read data from:: + +The only parameter required by this dataloader is a file to read data from. 'files' +is passed as a mandatory parameter, as 'file' and 'folder' both get translated into +a list of files, and stored in params under the key 'files':: # Add new import statement for Factory to read from polar_route.Dataloaders.Scalar.myScalarDataloader import myScalarDataloader @@ -42,20 +44,27 @@ The only parameter required by this dataloader is a file to read data from:: ... dataloader_requirements = { ... - # Add new dataloader - 'myscalar': (myScalarDataloader, ['file']) + # Add new dataloaders + 'myscalar': (myScalarDataloader, ['files']) ... ... ... To call this dataloader, add an entry in the :code:`config.json` -file used to generate the mesh:: +file used to generate the mesh. Alternatively, add a folder, or a list of +individual files:: { "loader": "myscalar", "params": { - "file": "PATH_TO_DATA_FILE", + "file": "PATH_TO_DATA_FILE" # For a single file + "folder": "PATH_TO_FOLDER" # For a folder, must have trailing '/' + "files":[ # For a list of individual files + "PATH_TO_FILE_1", + "PATH_TO_FILE_2", + ... + ] } } diff --git a/docs/html/_sources/sections/Dataloaders/overview.rst.txt b/docs/html/_sources/sections/Dataloaders/overview.rst.txt index cd54c8f5..2fed490c 100644 --- a/docs/html/_sources/sections/Dataloaders/overview.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/overview.rst.txt @@ -12,9 +12,9 @@ Dataloader Overview ./Factory ./scalar/index ./vector/index + ./AddingDataloaders -################ Section Overview ################ @@ -35,35 +35,17 @@ however this can be whatever the user needs, so long as they are cast into eithe *UML Diagram detailing the dataloader subsystem* - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Implementing New Dataloaders -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Each dataloader is to be implemented as a separate object for the Environmental mesh to interface with. -The general workflow for creating a new dataloader is as follows: - -#. Choose an approriate dataloader type (see `Dataloader Types`_). -#. Create a new file under :code:`polar_route/DataLoaders/{dataloader-type}` with an appropriate name. -#. Create :code:`__init__()` and :code:`import_data()` methods. Examples of how to do this are shown on the :ref:`abstractScalar` and :ref:`abstractVector` pages. -#. Add a new entry to the dataloader factory object, within :code:`polar_route/Dataloaders/Factory.py`. Instructions on how to do so are shown in :ref:`dataloader-factory` - -After performing these actions, the dataloader should be ready to go. It is useful for debugging purposes -to create the dataloader object from within :code:`polar_route/Dataloaders/Factory.py` (e.g. within -:code:`if __name__=='__main__':` ) and test its functionality before deploying it. - -^^^^^^^^^^^^^^^^ Dataloader Types -^^^^^^^^^^^^^^^^ +================ There are two main types of dataloaders that are implemented as abstract classes: Scalar and Vector. **Scalar dataloaders** are to be used on scalar datasets; i.e. variables with a single value per latitude/longitude(/time) coordinate. Examples of this are bathymetry, sea ice concentration, etc... -While the raw datasets may contain more than one variable (a common example being the existance of values and errors in the same file), +While the raw datasets may contain more than one variable (a common example being the existence of values and errors in the same file), these *MUST* be cut down to just coordinates, and a single variable, in order to work correctly with the :ref:`abstractScalar` dataloader. -To read more on how to implement these, follow instructions in `Implementing New Dataloaders`_ and the :ref:`abstract scalar dataloader page`. +To read more on how to implement these, follow instructions in :ref:`Adding Dataloaders page` and the :ref:`abstract scalar dataloader page`. **Vector dataloaders** are to be used on vector datasets; i.e. variables with multi-dimensional values per latitude/longitude(/time) coordinate. Examples of this are ocean currents, @@ -71,27 +53,38 @@ wind, etc... The datasets will have multiple data variables, and should be cut d and optionally 'time'), and the values for each dimensional component of the variable. This will generally be two dimensions, however the :ref:`abstractVector` dataloader should be flexible to n-dimensional data. Rigor should be taken when testing these dataloaders to ensure that the outputs of :code:`get_value()` method of these dataloaders produces outputs that make sense. -To read more on how to implement these, follow instructions in `Implementing New Dataloaders`_ and :ref:`abstract vector dataloader page`. +To read more on how to implement these, follow instructions in :ref:`Adding Dataloaders page` and :ref:`abstract vector dataloader page`. .. **Look-up Table Dataloaders** are to be used on datasets where boundaries define a value. -.. Real data is always prefered to this method, however in the case where there is no data, the LUT +.. Real data is always preferred to this method, however in the case where there is no data, the LUT .. can provide an alternative. Examples of this include ice density, and ice thickness. For these examples, .. weather conditions dictate their values, and these weather conditions can be localised to specific areas. .. To read more on how to implement these, follow instructions in `Implementing New Dataloaders`_ and :ref:`abstract LUT dataloader page`. -^^^^^^^^^^^^^^^^^^^^ + Abstract Dataloaders -^^^^^^^^^^^^^^^^^^^^ +==================== To look at specific abstract dataloaders, use the following links: - :ref:`abstract-scalar-dataloader` - :ref:`abstract-vector-dataloader` These are the templates to be used when implementing new dataloaders into PolarRoute. -They have been split into two seperate categories: Scalar and Vector, detailed in `Dataloader Types`_. +They have been split into two separate categories: Scalar and Vector, detailed in `Dataloader Types`_. The abstract classes generalise the methods used by each dataloader type to produce outputs that the Environmental Mesh can retrieve via the :ref:`dataloader interface`. -They are flexible in that they can store and process data as both :code:`pandas.DataFrame`'s or -:code:`xarray.Dataset`'s. \ No newline at end of file +They are flexible in that they can store and process data as both :code:`xarray.Dataset`'s or +:code:`pandas.DataFrame`'s (and by extension, :code:`dask.DataFrames`'s). +When creating your own, :code:`dask` and :code:`xarray` should be utilised as much as possible to +reduce memory consumption. + +Both abstract base classes define the :code:`__init__()` function to have the following process: + +#. Read in params from config +#. Add params from :code:`self.add_default_params()`, defined by user when creating a dataloader +#. Downsample data if required and if loaded as :code:`xarray.Dataset` +#. Reproject data if required +#. Trim datapoints to initial boundary +#. Rename data column name if defined in params \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/scalar/abstractScalar.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/abstractScalar.rst.txt index 6d633f54..c625469a 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/abstractScalar.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/abstractScalar.rst.txt @@ -4,6 +4,6 @@ Abstract Scalar Dataloader ************************** -.. automodule:: polar_route.dataloaders.scalar.abstractScalar +.. automodule:: polar_route.dataloaders.scalar.abstract_scalar :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/scalar/implemented/AMSR.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/implemented/AMSR.rst.txt index 58619970..01642a27 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/implemented/AMSR.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/implemented/AMSR.rst.txt @@ -2,12 +2,12 @@ AMSR Dataloader *************** -The AMSR (Advanced Microwave Scanning Radiometer) dataset is a publically +The AMSR (Advanced Microwave Scanning Radiometer) dataset is a publicly available that provides Sea Ice Concentration scans of the earth's oceans. It is produced by researchers at the University of Bremen. The AMSR dataloader is currently the only 'standalone' dataloader, in that it -is defined independantly of the abstract base class. This is due to issues +is defined independently of the abstract base class. This is due to issues with :code:`pandas` calculating mean values differently depending on how the data is loaded. This caused issues with the regression tests passing. This issue will be rectified soon by updating the regression tests. diff --git a/docs/html/_sources/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst.txt index 85f18aa9..55c86b8d 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst.txt @@ -2,7 +2,7 @@ BSOSE Depth Dataloader ********************** -B-SOSE (Biogeochemical Southern Ocean State Estimate solution) provide a publically available dataset that +B-SOSE (Biogeochemical Southern Ocean State Estimate solution) provide a publicly available dataset that hosts (amongst other products) sea ice concentration (SIC) of the southern ocean. Their SIC product provides a 'depth' value, which this dataloader ingests. BSOSE is an extension of the SOSE project led by Mazloff at the Scripps Institution of Oceanography. @@ -17,6 +17,6 @@ Data can be downloaded from `here `_ -.. automodule:: polar_route.dataloaders.scalar.balticSeaIce +.. automodule:: polar_route.dataloaders.scalar.baltic_sea_ice :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/scalar/implemented/BinaryGRF.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/implemented/BinaryGRF.rst.txt index 009ec3e1..2ac5f044 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/implemented/BinaryGRF.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/implemented/BinaryGRF.rst.txt @@ -23,7 +23,7 @@ only True/False. It is useful for generating land masks. # distribution used to generate GRF "min": 0, # - Minimum value of GRF "max": 1, # - Maximum value of GRF - "binary": True, # - Flag specifiying this GRF is a binary mask + "binary": True, # - Flag specifying this GRF is a binary mask "threshold": 0.5 # - Value around which mask values are set. # Below this, values are set to False # Above this, values are set to True diff --git a/docs/html/_sources/sections/Dataloaders/scalar/implemented/GEBCO.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/implemented/GEBCO.rst.txt index 8c31519d..2449b93f 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/implemented/GEBCO.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/implemented/GEBCO.rst.txt @@ -2,7 +2,7 @@ GEBCO Dataloader **************** -The General Bathymetric Chart of the Oceans (GEBCO) is a publically available +The General Bathymetric Chart of the Oceans (GEBCO) is a publicly available bathymetric chart of the Earth's oceans. It is a common resource used by ocean scientists, amongst others. diff --git a/docs/html/_sources/sections/Dataloaders/scalar/implemented/IceNet.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/implemented/IceNet.rst.txt index 03fd7cc9..9aed84b2 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/implemented/IceNet.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/implemented/IceNet.rst.txt @@ -12,7 +12,7 @@ at the British Antarctic Survey. From the website: next 6 months of monthly-averaged sea ice concentration maps. Data for IceNet V1 is available from `here `_ -Data for IceNet V2 is not publically available. +Data for IceNet V2 is not publicly available. .. automodule:: polar_route.dataloaders.scalar.icenet :special-members: __init__ diff --git a/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarCSV.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarCSV.rst.txt index aff47518..f81b42da 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarCSV.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarCSV.rst.txt @@ -7,6 +7,6 @@ it into a data source for mesh construction. It was primarily used in testing for loading dummy data to test performance. As such, there is no data source for this dataloader. -.. automodule:: polar_route.dataloaders.scalar.scalarCSV +.. automodule:: polar_route.dataloaders.scalar.scalar_csv :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarGRF.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarGRF.rst.txt index 367438e0..478f1c40 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarGRF.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/implemented/ScalarGRF.rst.txt @@ -23,7 +23,7 @@ For vector fields, see the :ref:`Vector GRF page`. "size": 512, # - Number of datapoints per lat/long axis "alpha": 3, # - Power of the power-law momentum # distribution used to generate GRF - "binary": False, # - Flag specifiying this GRF isn't a binary mask + "binary": False, # - Flag specifying this GRF isn't a binary mask "threshold": [0, 1], # - Caps of min/max values to ensure normalising # not skewed by outlier in randomised GRF "min": -10, # - Minimum value of GRF @@ -41,6 +41,6 @@ the min and max are The dataloader is implemented as follows: -.. automodule:: polar_route.dataloaders.scalar.scalarGRF +.. automodule:: polar_route.dataloaders.scalar.scalar_grf :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/scalar/index.rst.txt b/docs/html/_sources/sections/Dataloaders/scalar/index.rst.txt index 69f83d47..d93966b4 100644 --- a/docs/html/_sources/sections/Dataloaders/scalar/index.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/scalar/index.rst.txt @@ -20,7 +20,7 @@ functionality that would be needed to manipulate the data to work with the mesh. When creating a new dataloader, the user must define how to open the data files, and what methods are required to manipulate the data into a standard format. More details are provided on the -:ref:`abstractScalar doc page` +:ref:`abstractScalar doc page`. ^^^^^^^^^^^^^^^^^^^^^^^^^^ Scalar Dataloader Examples @@ -33,80 +33,46 @@ Below is a simple example of how to load in a NetCDF file:: import logging class MyDataLoader(ScalarDataLoader): - def __init__(self, bounds, params): - # Creates a class attribute for all keys in params - for key, val in params.items(): - logging.debug( - f"Reading in {key}:{value} (dtype={type(value)}) from params" - ) - setattr(self, key, val) - - # Import data from file - self.data = self.import_data(bounds) - - # Retrieve data name from variable name in NetCDF - self.data_name = self.get_data_col_name() - - logging.info(f"Successfully loaded {self.data_name} from {self.file}") - + def import_data(self, bounds): logging.debug("Importing my data...") # Open Dataset - logging.debug(f"- Opening file {self.file}") - data = xr.open_dataset(self.file) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Rename coordinate columns to 'lat', 'long', 'time' if they aren't already data = data.rename({'lon':'long'}) # Limit to initial boundary - data = data.sel(lat=slice(bounds.get_lat_min(),bounds.get_lat_max())) - data = data.sel(long=slice(bounds.get_long_min(),bounds.get_long_max())) - data = data.sel(time=slice(bounds.get_time_min(),bounds.get_time_max())) + data = self.trim_data(bounds, data=data) return data -Sometimes the data needs to be reprojected if it is not initially in mercator -projection. It may also need to be downsampled if the dataset is very large. -The following code handles both of these cases:: +Sometimes there are parameters that are constant for a data source, but are not +constant for all data sources. Default values are defined in the dataloader :code:`add_default_params()`. +Below is an example of setting default parameters for reprojection of a dataset:: class MyDataLoader(ScalarDataLoader): - def __init__(self, bounds, params): - # Creates a class attribute for all keys in params - for key, val in params.items(): - logging.debug( - f"Reading in {key}:{value} (dtype={type(value)}) from config params" - ) - setattr(self, key, val) - - # Import data from file - self.data = self.import_data(bounds) - # Downsampling data by 'downsample_factors' defined in config params - self.data = self.downsample() - # Reprojecting dataset from EPSG:3412 to 'EPSG:4326'. - # Coordinate names 'x', 'y' will be replaced with 'long', 'lat' - self.data = self.reproject( in_proj = 'EPSG:3412', - out_proj = 'EPSG:4326', - x_col = 'x', - y_col = 'y') - - # Limit to initial boundary. - # Note: Reprojection converts data to pandas dataframe - idx = self.get_datapoints(bounds).index - self.data = self.data.loc[idx] - - # Manually overwriting data name - self.data_name = "my_variable" - self.data = self.set_data_col_name(self.data_name) + def add_default_params(self, params): + # Add all the regular default params that scalar dataloaders have + params = super().add_default_params(params) # This line MUST be included + + # Define projection of dataset being imported + params['in_proj'] = 'EPSG:3412' + # Define projection required by output + params['out_proj'] = 'EPSG:4326' # default is EPSG:4326, so strictly + # speaking this line is not necessary + + # Coordinates in dataset that will be reprojected into long/lat + params['x_col'] = 'x' # Becomes 'long' + params['y_col'] = 'y' # Becomes 'lat' - logging.info(f"Successfully loaded {self.data_name} from {self.file}") + return params def import_data(self, bounds): - logging.debug("Importing my data...") - # Open Dataset - logging.debug(f"- Opening file {self.file}") - data = xr.open_dataset(self.file) + data = xr.open_mfdataset(self.files) # Can't easily determine bounds of data in wrong projection, so skipping for now return data diff --git a/docs/html/_sources/sections/Dataloaders/vector/abstractVector.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/abstractVector.rst.txt index 20301c6a..2b857973 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/abstractVector.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/abstractVector.rst.txt @@ -4,6 +4,6 @@ Abstract Vector Dataloader ************************** -.. automodule:: polar_route.dataloaders.vector.abstractVector +.. automodule:: polar_route.dataloaders.vector.abstract_vector :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/vector/implemented/BalticCurrent.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/implemented/BalticCurrent.rst.txt index fbaceece..678b503b 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/implemented/BalticCurrent.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/implemented/BalticCurrent.rst.txt @@ -15,6 +15,6 @@ From their webpage: Data can be downloaded from `here `_ -.. automodule:: polar_route.dataloaders.vector.balticCurrent +.. automodule:: polar_route.dataloaders.vector.baltic_current :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/vector/implemented/ERA5Wind.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/implemented/ERA5Wind.rst.txt index 6e1c7b3a..437d45c6 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/implemented/ERA5Wind.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/implemented/ERA5Wind.rst.txt @@ -17,6 +17,6 @@ Instructions for how to download their data products are available `here `_ -.. automodule:: polar_route.dataloaders.vector.era5Wind +.. automodule:: polar_route.dataloaders.vector.era5_wind :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/vector/implemented/NorthSeaCurrent.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/implemented/NorthSeaCurrent.rst.txt index 79df5c5e..0a08b963 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/implemented/NorthSeaCurrent.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/implemented/NorthSeaCurrent.rst.txt @@ -10,6 +10,6 @@ More information on where to download the data is available `here `_ -.. automodule:: polar_route.dataloaders.vector.northSeaCurrent +.. automodule:: polar_route.dataloaders.vector.north_sea_current :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/vector/implemented/ORAS5Current.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/implemented/ORAS5Current.rst.txt index 7c99ea03..c85cd2d5 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/implemented/ORAS5Current.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/implemented/ORAS5Current.rst.txt @@ -2,7 +2,7 @@ ORAS5 Currents Dataloader ************************* -Ocean Reanalysis System 5 (ORAS5) is a publically available dataset providing +Ocean Reanalysis System 5 (ORAS5) is a publicly available dataset providing estimated values for many different ocean parameters, including ocean currents. From their website: @@ -15,6 +15,6 @@ From their website: Data can be downloaded from `here `_ -.. automodule:: polar_route.dataloaders.vector.oras5Current +.. automodule:: polar_route.dataloaders.vector.oras5_current :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/vector/implemented/SOSE.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/implemented/SOSE.rst.txt index 6e171323..da065eae 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/implemented/SOSE.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/implemented/SOSE.rst.txt @@ -2,7 +2,7 @@ SOSE Currents Dataloader ************************ -Southern Ocean State Estimate (SOSE) is a publically available dataset that provides (amongst other products) +Southern Ocean State Estimate (SOSE) is a publicly available dataset that provides (amongst other products) ocean current vectors of the southern ocean. It is a project led by Mazloff at the Scripps Institution of Oceanography. From their website: diff --git a/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorCSV.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorCSV.rst.txt index ec7d3c8f..d7276210 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorCSV.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorCSV.rst.txt @@ -7,6 +7,6 @@ it into a data source for mesh construction. It was primarily used in testing for loading dummy data to test performance. As such, there is no data source for this dataloader. -.. automodule:: polar_route.dataloaders.vector.vectorCSV +.. automodule:: polar_route.dataloaders.vector.vector_csv :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorGRF.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorGRF.rst.txt index e369c8d7..65db9138 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorGRF.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/implemented/VectorGRF.rst.txt @@ -33,6 +33,6 @@ For scalar fields, see the :ref:`Vector GRF page`. The dataloader is implemented as follows: -.. automodule:: polar_route.dataloaders.vector.vectorGRF +.. automodule:: polar_route.dataloaders.vector.vector_grf :special-members: __init__ :members: \ No newline at end of file diff --git a/docs/html/_sources/sections/Dataloaders/vector/index.rst.txt b/docs/html/_sources/sections/Dataloaders/vector/index.rst.txt index 3a8ceec5..22f15064 100644 --- a/docs/html/_sources/sections/Dataloaders/vector/index.rst.txt +++ b/docs/html/_sources/sections/Dataloaders/vector/index.rst.txt @@ -28,7 +28,7 @@ Vector Dataloader Examples Creating a vector dataloader is almost identical to creating a :ref:`scalar dataloader`. The key differences are that the `VectorDataLoader` abstract base class must be used, and that -the `data_name` is a comma seperated string of the vector component names. +the `data_name` is a comma separated string of the vector component names. e.g. a dataloader storing a vector with column names :code:`uC` and :code:`vC` will have an attribute :code:`self.data_name = 'uC,vC'` Data must be imported and saved as an xarray.Dataset, or a @@ -40,22 +40,6 @@ NetCDF file:: import logging class MyDataLoader(VectorDataLoader): - def __init__(self, bounds, params): - # Creates a class attribute for all keys in params - for key, val in params.items(): - logging.debug( - f"Reading in {key}:{value} (dtype={type(value)}) from params" - ) - setattr(self, key, val) - - # Import data from file - self.data = self.import_data(bounds) - - # Retrieve data name from variable name in NetCDF - self.data_name = self.get_data_col_name() - - logging.info(f"Successfully loaded {self.data_name} from {self.file}") - def import_data(self, bounds): logging.debug("Importing my data...") # Open Dataset @@ -66,53 +50,34 @@ NetCDF file:: data = data.rename({'lon':'long'}) # Limit to initial boundary - data = data.sel(lat=slice(bounds.get_lat_min(),bounds.get_lat_max())) - data = data.sel(long=slice(bounds.get_long_min(),bounds.get_long_max())) - data = data.sel(time=slice(bounds.get_time_min(),bounds.get_time_max())) + data = self.trim_data(bounds, data=data) return data -Similar to scalar data loaders, sometimes the data needs to be reprojected -if it is not initially in mercator projection. It may also need to be downsampled -if the dataset is very large. The following code handles both of these cases:: +Similar to scalar data loaders, sometimes there are parameters that are constant +for a data source, but are not constant for all data sources. Default values may +be defined either in the dataloader factory, or within the dataloader itself. +Below is an example of setting default parameters for reprojection of a dataset:: class MyDataLoader(ScalarDataLoader): - def __init__(self, bounds, params): - # Creates a class attribute for all keys in params - for key, val in params.items(): - logging.debug( - f"Reading in {key}:{value} (dtype={type(value)}) from config params" - ) - setattr(self, key, val) - - # Import data from file - self.data = self.import_data(bounds) - # Downsampling data by 'downsample_factors' defined in config params - self.data = self.downsample() - # Reprojecting dataset from EPSG:3412 to 'EPSG:4326'. - # Coordinate names 'x', 'y' will be replaced with 'long', 'lat' - self.data = self.reproject( in_proj = 'EPSG:3412', - out_proj = 'EPSG:4326', - x_col = 'x', - y_col = 'y') - - # Limit to initial boundary. - # Note: Reprojection converts data to pandas dataframe - idx = self.get_datapoints(bounds).index - self.data = self.data.loc[idx] - - # Manually overwriting data names for each vector component - self.data_name = "v_x,v_y" - self.data = self.set_data_col_name(self.data_name) - logging.info(f"Successfully loaded {self.data_name} from {self.file}") + def add_default_params(self, params): + # Add all the regular default params that scalar dataloaders have + params = super().add_default_params(params) # This line MUST be included + + # Define projection of dataset being imported + params['in_proj'] = 'EPSG:3412' + # Define projection required by output + params['out_proj'] = 'EPSG:4326' # default is EPSG:4326, so strictly + # speaking this line is not necessary + + # Coordinates in dataset that will be reprojected into long/lat + params['x_col'] = 'x' # Becomes 'long' + params['y_col'] = 'y' # Becomes 'lat' def import_data(self, bounds): - logging.debug("Importing my data...") - # Open Dataset - logging.debug(f"- Opening file {self.file}") - data = xr.open_dataset(self.file) + data = xr.open_mfdataset(self.file) # Can't easily determine bounds of data in wrong projection, so skipping for now return data diff --git a/docs/html/_sources/sections/Discrete_meshing.rst.txt b/docs/html/_sources/sections/Discrete_meshing.rst.txt deleted file mode 100644 index 662324d0..00000000 --- a/docs/html/_sources/sections/Discrete_meshing.rst.txt +++ /dev/null @@ -1,99 +0,0 @@ -******************************** -Methods - Mesh Construction -******************************** - -Throughout this section we will outline an overview of the Environment Mesh Construction module, describe the main classes that composes the module and illustrate a use case for the Discrete Meshing of the environment. - -Mesh Construction Overview -############################## -A general overview of the method can be seen below: - -.. figure:: ./Figures/FlowDiagram_MeshGraph.png - :align: center - :width: 700 - - Overview figure of the Discrete Meshing from the multi-data input. - - -Mesh Construction Design -############################## -The below UML diagram describes how the Environment Mesh Construction module is designed. It depicts the classes of the module and how they interact with each other. - -.. figure:: ./Figures/mesh-construct-UML.drawio.png - :align: center - :width: 1000 - - - - -Mesh Construction Use case -################################### -This sequence diagram illustrates a use case for the Discrete Meshing of the environment, where the module's client starts by initializing the MeshBuilder with a certain mesh configuration (see Input-Configuration section for more details about the configuration format) then calls build_environment_mesh method. - -.. figure:: ./Figures/mesh-build-sequence-diagram.drawio.png - :align: center - :width: 1000 - - - -The following diagram depicts the sequence of events that take place inside build_environment_mesh method into details - -.. figure:: ./Figures/build-env-mesh.drawio.png - :align: center - :width: 1000 - - -Classes -############## -This section describes the main classes of the Mesh Construction module in details - -CellBox -*************** -.. automodule:: polar_route.mesh_generation.cellbox - -.. autoclass:: polar_route.mesh_generation.cellbox.CellBox - :special-members: __init__ - :members: set_data_source, should_split, split, set_parent, aggregate - -MetaData -*********** - -.. automodule:: polar_route.mesh_generation.metadata - -.. autoclass:: polar_route.mesh_generation.metadata.Metadata - :special-members: __init__ - - -MeshBuilder -************ - -.. automodule:: polar_route.mesh_generation.mesh_builder - -.. autoclass:: polar_route.mesh_generation.mesh_builder.MeshBuilder - :special-members: __init__ - :members: build_environmental_mesh , split_and_replace, split_to_depth - -AggregatedCellBox -****************** -.. automodule:: polar_route.mesh_generation.aggregated_cellBox - -.. autoclass:: polar_route.mesh_generation.aggregated_cellBox.AggregatedCellBox - :special-members: __init__ - :members: contains_point, to_json - -EnvironmentMesh -**************** -.. automodule:: polar_route.mesh_generation.environment_mesh - -.. autoclass:: polar_route.mesh_generation.environment_mesh.EnvironmentMesh - :special-members: __init__ - :members: load_from_json, update_cellbox , to_json, save - - -NeighbourGraph -*************** - -.. automodule:: polar_route.mesh_generation.neighbour_graph - -.. autoclass:: polar_route.mesh_generation.neighbour_graph.NeighbourGraph - :members: initialise_neighbour_graph, get_neighbour_case, update_neighbours \ No newline at end of file diff --git a/docs/html/_sources/sections/Examples.rst.txt b/docs/html/_sources/sections/Examples.rst.txt index 8b2c9d0a..752e6ea4 100644 --- a/docs/html/_sources/sections/Examples.rst.txt +++ b/docs/html/_sources/sections/Examples.rst.txt @@ -1,7 +1,7 @@ ************************ Examples of running code ************************ -Throughout this section we will discuss a series of examples that cna be run by the user either from the Command-Ling or within python/ipython notebooks. All these examples and more can be found at the Google Colab `Link `_. +Throughout this section we will discuss a series of examples that can be run by the user either from the Command-Line or within python/ipython notebooks. All these examples and more can be found at the Google Colab `Link `_. ============================================================= Example 1 - Antarctica Processing all stages of route planner @@ -17,6 +17,6 @@ Example 2 - Dijkstra vs smooth paths ============================================================ -Example 2 - Variations of Vehichle Properties on Route Paths +Example 2 - Variations of Vehicle Properties on Route Paths ============================================================ ...to be added shortly ... \ No newline at end of file diff --git a/docs/html/_sources/sections/Installation.rst.txt b/docs/html/_sources/sections/Installation.rst.txt index 434e2346..b1f20ca1 100644 --- a/docs/html/_sources/sections/Installation.rst.txt +++ b/docs/html/_sources/sections/Installation.rst.txt @@ -6,38 +6,76 @@ In this section we will outline the installation steps for installing the softwa The first stage is installing a version of Python 3.9, if you don't have a working version. We suggest installing a working Anaconda distribution from https://www.anaconda.com/products/distribution#macos following the instructions on that page. -Windows -####### -The PolarRoute software requires GDAL files to be installed. The PolarRoute software can be installed on Windows by running one of the two following commands. +Installing PolarRoute +##################### + +The PolarRoute software can be installed on Windows/Linux/MacOS by running one of the two following commands. Github: :: - - pip install pipwin - pipwin install gdal - pipwin install fiona + + git clone https://https://github.com/antarctica/PolarRoute.git python setup.py install Pip: :: - pip install pipwin + pip install polar-route + + +Installing GDAL +############### + +The PolarRoute software has GDAL as an optional requirement. It is only used when exporting TIFF images, +so if this is not useful to you, we would recommend steering clear. It is not trivial and is a common source of problems. +With that said, below are instructions for various operating systems. + +Windows +******* + +.. note:: + We assume a version of Windows 10 or higher, with a working version of Python 3.9 including pip installed. + We recommend installing PolarRoute into a virtual environment. + +Windows: + +:: + + pip install pipwin # pipwin is a package that allows for easy installation of windows binaries pipwin install gdal pipwin install fiona - pip install polar-route Linux/MacOS -########### +*********** -The PolarRoute software can be installed on Linux/MacOS by running one of the two following commands. +Ubuntu/Debian: -Github: :: + + sudo add-apt-repository ppa:ubuntugis/ppa + sudo apt-get update + sudo apt-get install gdal-bin libgdal-dev + export CPLUS_INCLUDE_PATH=/usr/include/gdal + export C_INCLUDE_PATH=/usr/include/gdal + pip install GDAL==$(gdal-config --version) - python setup.py install -Pip: +Fedora: + :: - pip install polar-route + sudo dnf update + sudo dnf install gdal gdal-devel + export CPLUS_INCLUDE_PATH=/usr/include/gdal + export C_INCLUDE_PATH=/usr/include/gdal + pip install GDAL==$(gdal-config --version) + + +MacOS (with HomeBrew): + +:: + + brew install gdal --HEAD + brew install gdal + pip install GDAL==$(gdal-config --version) \ No newline at end of file diff --git a/docs/html/_sources/sections/Outputs.rst.txt b/docs/html/_sources/sections/Outputs.rst.txt index 75a332ae..4b3ba9f3 100644 --- a/docs/html/_sources/sections/Outputs.rst.txt +++ b/docs/html/_sources/sections/Outputs.rst.txt @@ -4,9 +4,9 @@ Outputs - Data Types ******************** -################# -Mesh construction -################# +###################### +The Mesh.json file +###################### The first stage in the route planning pipeline is constructing a discrete mesh of the environment in which the route planner can operate. Once this @@ -26,7 +26,7 @@ of mesh construction and json object generation are as follows: .. note:: Examples and a description of the configuration files can be found in - the :ref:`Configuration` section of this document. + the :ref:`configuration - mesh construction` section of this document. The json object outputted by the Mesh consists of 3 sections: **config**, @@ -137,12 +137,13 @@ where each of the values represent the following: :align: center :width: 700 -################# -Vehicle specifics -################# +########################### +The Vessel_mesh.json file +########################### Once a discrete mesh environment is contracted, it is then passed to the vessel performance modeller -which applies transformations which are specific to a given vehicle. +which applies transformations which are specific to a given vehicle. These vehicle specific values +are then encoded into the mesh json object and passed down-stream to the route planner. :: @@ -162,7 +163,8 @@ which applies transformations which are specific to a given vehicle. .. note:: To make use of the full range of vessel performance transformations, a Mesh should be constructed with the following attributes: - + + * elevation (available via data_loaders: *gebco*, *bsose_depth*) * SIC (available via data_loaders: *amsr*, *bsose_sic*, *baltic_sic*, *icenet*, *modis*) * thickness (available via data_loaders: *thickness*) * density (available via data_loaders: *density*) @@ -189,17 +191,20 @@ have a set of new attributes as follows: * **relative wind angle** *(list)* : The angle of the apparent wind acting on the vessel. -############## -Route planning -############## +######################### +The Route.json file +######################### -During the route planning stage of the pipline information on the routes and the waypoints used are saved as outputs to the processing stage. Descriptions of the structure of the two outputs are given below: +During the route planning stage of the pipline information on the routes and the waypoints used are saved +as outputs to the processing stage. Descriptions of the structure of the two outputs are given below: ========= waypoints ========= -An entry in the json including all the information of the waypoints defined by the user from the `waypoints_path` file. It may be the case that ot all waypoints would have been used in the route construction, but all waypoints are returned to this entry. The structure of the entry follows: +An entry in the json including all the information of the waypoints defined by the user from the `waypoints_path` +file. It may be the case that ot all waypoints would have been used in the route construction, but all waypoints +are returned to this entry. The structure of the entry follows: :: @@ -287,7 +292,7 @@ where the output takes a GeoJSON standard form (more infor given at https://geoj * **** : A list of the features representing each of the separate routes constructed * **geometry** : The positioning of the route locations * **coordinates** : A list of the Lat,Long position of all the route points - * **** : A list of metainformation about the route + * **** : A list of meta-information about the route * **from** : Starting waypoint of route * **to** : Ending waypoint of route * **traveltime** : A list of float values representing the cumulative travel time along the route. This entry was originally defined as a output in the configuration file by the `path_variables` definition. diff --git a/docs/html/_sources/sections/Route_optimisation.rst.txt b/docs/html/_sources/sections/Route_optimisation.rst.txt index dfa26953..d9f4f1ee 100644 --- a/docs/html/_sources/sections/Route_optimisation.rst.txt +++ b/docs/html/_sources/sections/Route_optimisation.rst.txt @@ -5,26 +5,32 @@ Methods - Route Planner Route Optimisation Overview ########################### -In this section we will outline the construction of the route paths using the Mesh construction corrected to include the objective functions define and generated in the earlier section. +In this section we outline the code used to generate optimal routes through a mesh constructed by the methods described +in previous sections. This mesh should include the vessel performance parameters with respect to which objective +functions can be defined for optimisation. +Route Optimisation Modules +########################## Route Planner -############# +************* .. automodule:: polar_route.route_planner :members: + :private-members: -.. Crossing Points -.. ############## +Crossing Points +*************** -.. .. automodule:: polar_route.crossing -.. :members: - -.. .. autoclass:: polar_route.crossing.NewtonianDistance -.. :members: +.. automodule:: polar_route.crossing + :members: + :private-members: -.. .. autoclass:: polar_route.crossing.NewtonianCurve -.. :members: +Crossing Point Smoothing +************************ +.. automodule:: polar_route.crossing_smoothing + :members: + :private-members: diff --git a/docs/html/_sources/sections/running.rst.txt b/docs/html/_sources/sections/running.rst.txt deleted file mode 100644 index 314f74c8..00000000 --- a/docs/html/_sources/sections/running.rst.txt +++ /dev/null @@ -1,242 +0,0 @@ -********************** -Runnning Codebase -********************** - -The codebase current can be run from either pre-defined python functions or via a command line interface. Outlined below is how to run the separate sections of the software package using either of the two methods. - - -Command Line Interface -############################### - -The PolarRoute package provides 3 CLI entry points, intended to be used in succession to plan a route through a digital enviroment. - -.. figure:: ./Figures/PolarRoute_CLI.png - :align: center - :width: 700 - - *Overview figure of the Command Line Interface entry points of PolarRoute* - -^^^^^^^^^^^^^^^^^^ -create_mesh -^^^^^^^^^^^^^^^^^^ -The *create_mesh* entry point builds a digital enviroment file from a collection of source data, which can then be used -by the vessel performance modeller and route planner. - -:: - - create_mesh - -positional arguments: - -:: - - config : A configuration file detailing how to build the digital enviroment. JSON parsable - -The format of the required ** file can be found in the :ref:`Input - Configuration` section of the documentation. - -optional arguments: - -:: - - -v (verbose logging) - -o (set output location for mesh) - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -add_vehicle -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -The *add_vehicle* command allows vehicle specific simulations to be performed on the digital enviroment. This vehicle specific -information is then encoded into the digital enviroment file. - -:: - - add_vehicle - -positional arguments: - -:: - - vessel : A configuration file detailing the vessel to be simulated in the digital enviroment. - mesh : A digital enviroment file. - -The format for the required ** file can be found in the :ref:`Input - Configuration` section of the documentation. -The required ** file can be created using the :ref:`create_mesh` command shown above. - -optional arguments are - -:: - - -v (verbose logging) - -o (set output location for mesh) - -^^^^^^^^^^^^^^^^^^ -optimise_routes -^^^^^^^^^^^^^^^^^^ -Optimal routes through a mesh can be calculated using the command: - -:: - - optimise_routes - -positional parameters: - -:: - - vessel_mesh : A digital enviroment file with added vessel specific simulations. - route_config : A configuration file detailing optimisation parameters to be used when route planning. - waypoints: A .csv file containing waypoints to be travelled between. - - -The format for the required ** file can be found in the :ref:`Input - Configuration` section of the documentation. -The required ** file can be generated using the :ref:`add_vehicle` command shown above. -The format for the requried ** file is as follows: - -As table: - -+------------------+---------------+---------------+---------+---------------+ -| Name | Lat | Long | Source | Destination | -+==================+===============+===============+=========+===============+ -| Halley | -75.26722 | -27.21694 | | X | -+------------------+---------------+---------------+---------+---------------+ -| Rothera | -68.3892 | -95.2436 | | | -+------------------+---------------+---------------+---------+---------------+ -| South Georiga | -54.87916667 | -37.26416667 | X | | -+------------------+---------------+---------------+---------+---------------+ -| Falklands | -55.63472222 | -64.88 | | | -+------------------+---------------+---------------+---------+---------------+ -| Elephant Island | -60.54722222 | -55.18138889 | | | -+------------------+---------------+---------------+---------+---------------+ - - -As .csv: - -:: - - Name,Lat,Long,Source,Destination - Halley,-75.26722,-27.21694,,X - Rothera,-68.3892,-95.2436,, - South Georiga,-54.87916667,-37.26416667,X, - Falklands,-55.63472222,-64.88,, - Elephant Island,-60.54722222,-55.18138889,, - -Additional waypoints may be added by extending the '' file. Which waypoints are navigated between is determined by -added a **X** in either the *Source* or *Destination* columns. When processed, the route planner will create routes from all -waypoints marked with an **X** in the source column to all waypoints marked with a **X** in the *destination* column. - -optional arguments are - -:: - - -v (verbose logging) - -o (set output location for mesh) - -p (output only the caculated path, not the entire mesh - -d (output Dijkstra path as well as smoothed path) - - -^^^^^^^^^^^^^^^^^^ -Plotting -^^^^^^^^^^^^^^^^^^ -Meshes produced at any stage in the route planning process can be visualised using the GeoPlot library found at `Link ` - - - -Python & iPython Notebooks -############################### - -Route planning may also be done using a python terminal. This is case, the CLI is not required but the steps required for route planning -follow the same format - create a digital enviroment; simulated a vessel against it; optimise a route plan through the digital enviroment. - - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Creating the digital enviroment. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -A configuration file is needed to initialise the **`Mesh`** object which forms the digital enviroment. This configuration file -is of the same format used in the :ref:`create_mesh` CLI entry-point, and may either be loaded from a *json* file or constructed -within the python terminal. - -Loading configuration from *json* file: -:: - - import json - with open('config.json', 'r') as f: - config = json.load(f) - - -The digital enviroment **`Mesh`** object can then be initialised. This mesh object will be constructed using parameters in it -configuration file. This mesh object can be manipulated further, such as increasing its resolution through further -splitting, adding additional data sources or altering is configuration parameters using functions listed in -the :ref:`Methods - Mesh Construction` section of the documentation. -:: - - from polar_route.mesh import Mesh - cg = Mesh(config) - -The digital enviroment **`Mesh`** object can then be cast to a json object and saved to a file. This *mesh.json* file can then -be used by the CLI entry-point :ref:`add_vehicle`, or the json object can be passed to the **`VesselPerformance`** object in a python -terminal. -:: - - mesh = cg.to_json() - with open('mesh.json') as f: - json.dumps(mesh) - - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Simulating a Vessel in a Digital Enviroment -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Once a digital enviroment **`Mesh`** object has been created, how a vessel interacts with it may be simulated. The **`VesselPerformance`** -object requires a digital enviroment in *json* format and vessel specific configuration parameters, also in *json* format. These may either -be loaded from a file, or created within the python terminal. - -Loading mesh and vessel from *json* files: -:: - - import json - # Loading digital enviroment from file - with open('mesh.json', 'r') as f: - mesh = json.load(f) - - # Loading vessel configuration parameters from file - with open('vessel.json', 'r') as f: - vessel = json.load(f) - -The **`VesselPerformance`** object can then be initialised. This will simulate the performance of the vessel and encodes this information -into the digital enviroment. -:: - - from polar_route.vessel_performance import VesselPerformance - vp = VesselPerformance(mesh, vessel) - -The **`VesselPerformance`** object can then be cast to a json object and saved to a file. This *vessel_mesh.json* file can then -be used by the CLI entry-point :ref:`optimise_routes`, or the json object can be passed to the **`RoutePlanner`** object in a python -terminal. -:: - - vessel_mesh = vp.to_json() - with open('vessel_mesh.json') as f: - json.dumps(vessel_mesh) - -^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Route Optimisation -^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Now that the vessel dependent environmental mesh is defined, and represented in the `vessel_performance` object, we can -construct routes, with parameters defined by the user in the configuration file. Waypoints are passed as an input -file path, `waypoints.csv`, discussed more in the Inputs section of the manual pages. The route construction is done -in two stages: construction of the meshed dijkstra optimal routes, `.compute_routes()`; and, the smoothing of the -dijkstra routes to further optimise the solution and reduce mesh dependencies, `.compute_smooth_routes()`. -During `.compute_routes()` the paths are appended to the object as an entry `paths`, which are replaced by the -smoothed paths after running `.compute_smooth_routes()`. An additional entry `waypoints` is generated to give the -waypoints information used in route construction. For further info about the structure of the outputs of the -paths please see the Outputs section of the manual. - -:: - - from polar_route.route_planner import RoutePlanner - rp = RoutePlanner(vessel_mesh, route_config , waypoints) - rp.compute_routes() - rp.compute_smoothed_routes() - info = rp.to_json() - - - diff --git a/docs/html/_static/documentation_options.js b/docs/html/_static/documentation_options.js index 7bd22bb6..8fe9cd68 100644 --- a/docs/html/_static/documentation_options.js +++ b/docs/html/_static/documentation_options.js @@ -1,6 +1,6 @@ var DOCUMENTATION_OPTIONS = { URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), - VERSION: '0.0.17', + VERSION: '0.2.18', LANGUAGE: 'en', COLLAPSE_INDEX: false, BUILDER: 'html', diff --git a/docs/html/genindex.html b/docs/html/genindex.html index fd5c8ff6..f9eed89c 100644 --- a/docs/html/genindex.html +++ b/docs/html/genindex.html @@ -3,7 +3,7 @@ - Index — polar_route 0.0.17 documentation + Index — polar_route 0.2.18 documentation - - - - - - - - - - - - - -
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1. Background

-
-

1.1. Code Overview

-

We present an automated route-planning method for use by an ice-strengthened vessel operating in polar regions. We build on the method developed for underwater vehicle long-distance route planning reported in Fox et al (2021). We start with the same grid-based route construction approach to obtain routes that satisfy constraints on the performance of the ship in ice. We then apply a novel route-smoothing method to the resulting routes, shortening the grid-based routes and ensure that routes follow great circle arcs where possible. This two-stage process efficiently generates routes that follow standard navigation solutions in open water and optimise vessel performance in and around areas dominated by sea ice. While we have focussed on navigation in and around polar ice, our methods are also applicable to shipping in a broader context (e.g.: commercial shipping) where route-planning must be responsive to changing local and weather conditions.

-
-
-

1.2. Code Structure

-

The outline of this manual is to provide the user with all the tools that they need to run the software for a set of examples. We also hope that the background information supplied for each section allows the user to understand the methods used throughout this toolkit.

-

The outline of the toolkit can be separated into the four main sections shown in the Figure below

-
-../_images/FlowDiagram_Overview.png -
-

Overview figure outlining the stages in the RoutePlanner

-
-
-

The separate stages can be broken down into:

-
    -

  1. Dataloaders - Reading in different datasets of differing types. Throughout this section we will outline the form that the input datasets should take and useful tips for pre-processing your data.

    2. -

  2. Mesh construction - Generating a Digital Twin of the environmental conditions. In this section we outline the different Python classes that are used to construct a discretised representation across the user defined datasets, giving a coding background to the dynamic splitting of the mesh to finer resolution in regions of datasets that are spatially varying.

    3. -

  3. Vessel Performance - Application of vehicle specific features applied to the discrete mesh. In this section we will supply the user with the knowledge of how vehicle specific features are applied to the discrete mesh or with variables applied to the computational graph of the mesh.

    4. -

  4. Route Planner - Generating grid-based dijkstra paths and data constrained path smoothing from the gridded solutions - In this section we will give the user the background to constructing paths between user defined waypoints that minimise a specific objective function (e.g. travel time, fuel). Once the gridded Dijkstra paths are formulated we outline a smoothing based procedure that uses the data information to generate non-gridded improved route paths.

    5. -
-
-../_images/PolarRoute_CodeFlowDiagram.png -
-

Overview figure outlining the Input/Output of all sections of the Route Planning pipeline

-
-
-

Each stage of this pipeline makes use of a configuration file, found in the Input - Configuration section of this document -and produces an output file, the form of which can be found in the Outputs - Data Types section of this document.

-

In addition to the main section of the codebase we have also developed a series of plotting classes that allows the user to generate interactive maps and static figures for the Mesh Features and Route Paths. These can be found in the Plotting section later in the manual.

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- - - - \ No newline at end of file diff --git a/docs/html/sections/Configuration.html b/docs/html/sections/Configuration.html deleted file mode 100644 index e9bd5d3f..00000000 --- a/docs/html/sections/Configuration.html +++ /dev/null @@ -1,464 +0,0 @@ - - - - - - - 4. Input - Configuration — polar_route 0.0.17 documentation - - - - - - - - - - - - - - - - -
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4. Input - Configuration

-

In this section we will outline the standard structure for a configuration file used in all portions of the PolarRoute software package.

-

Outlined below is an example configuration file for running PolarRoute. Using this as a template we will go through each of the definitions in turn, describing what each portion does with the subsections in the manual given by the main sections in the configuration file.

-
-

4.1. Mesh Construction configuration file example.

-
"config": {
-     "Mesh_info": {
-         "Region": {
-             "latMin": -65,
-             "latMax": -60,
-             "longMin": -70,
-             "longMax": -50,
-             "startTime": "2013-03-01",
-             "endTime": "2013-03-14",
-             "cellWidth": 5,
-             "cellHeight": 2.5
-         },
-         "Data_sources": [
-             {
-                 "loader": "GEBCO",
-                 "params": {
-                     "downsample_factors": [
-                         5,
-                         5
-                     ],
-                     "file": "../datastore/bathymetry/GEBCO/gebco_2022_n-40.0_s-90.0_w-140.0_e0.0.nc",
-                     "data_name": "elevation",
-                     "value_fill_types": "parent",
-                     "aggregate_type": "MAX",
-                     "splitting_conditions": [
-                         {
-                             "elevation": {
-                                 "threshold": -10,
-                                 "upper_bound": 1,
-                                 "lower_bound": 0
-                             }
-                         }
-                     ]
-                 }
-             },
-             {
-                 "loader": "AMSR_folder",
-                 "params": {
-                     "folder": "../datastore/sic/amsr_south/",
-                     "hemisphere": "south",
-                     "value_fill_types": "parent",
-                     "data_name": "SIC",
-                     "splitting_conditions": [
-                         {
-                             "SIC": {
-                                 "threshold": 35,
-                                 "upper_bound": 0.9,
-                                 "lower_bound": 0.1
-                             }
-                         }
-                     ]
-                 }
-             },
-             {
-                 "loader": "SOSE",
-                 "params": {
-                     "file": "../datastore/currents/sose_currents/SOSE_surface_velocity_6yearMean_2005-2010.nc",
-                     "value_fill_types": "parent",
-                     "data_name": "uC,vC"
-                 }
-             },
-             {
-                 "loader": "thickness",
-                 "params": {
-                     "data_name": "thickness",
-                     "file": "",
-                     "value_fill_types": "parent"
-                 }
-             },
-             {
-                 "loader": "density",
-                 "params": {
-                     "data_name": "density",
-                     "file": "",
-                     "value_fill_types": "parent"
-                 }
-             }
-         ],
-         "splitting": {
-             "split_depth": 4,
-             "minimum_datapoints": 5
-         }
-     }
- }
-
-
-

The configuration file used for mesh construction contains information required to build the discretised environment in which the route planner -operates. Information here dictates the region in which the mesh is constructed, the data contained within -the mesh and how the mesh is split to a non-uniform resolution. The configuration file used to generate a mesh is stored in a section titled ‘Mesh_info’

-

The ‘Mesh_info’ section of the configuration file contains three primary sections:

-
-

4.1.1. Region

-

The region section gives detailed information for the construction of the Discrete Mesh. The main definitions are the bounding region and temporal portion of interest (longMin, latMin, longMax, latMax, startTime, endTime), but also the starting shape of the spatial grid cell boxes (cellWidth, cellHeight) is defined before splitting is applied. Further detail on each parameter is given below:

-
"Region": {
-   "latMin": -77.5,
-   "latMax": -55,
-   "longMin": -120,
-   "longMax": -10,
-   "startTime": "2017-02-01",
-   "endTime": "2017-02-14",
-   "cellWidth":5,
-   "cellHeight":2.5
-}
-
-
-

where the variables are as follows:

-
    -

  • longMin (float, degrees) : Minimum Longitude Edge Mesh

    • -

  • longMax (float, degrees) : Maximum Longitude Edge Mesh

    • -

  • latMin (float, degrees) : Minimum Latitude Edge Mesh

    • -

  • latMax (float, degrees) : Maximum Latitude Edge Mesh

    • -

  • startTime (string, ‘YYYY-mm-dd’) : Start Datetime of Time averaging

    • -

  • endTime (string, ‘YYYY-mm-dd’) : End Datetime of Time averaging

    • -

  • cellWidth (float, degrees) : Initial Cell Box Width prior to splitting

    • -

  • cellHeight (float, degrees) : Initial Cell Box Height prior to splitting

    • -
-
-

Note

-

Variables startTime and endTime also support reference to system time using -the keyword TODAY e.g.

-

“startTime”: “TODAY” , “endTime”: “TODAY + 5”

-

“startTime”: “TODAY - 3”, “endTime”: “TODAY”

-
-
-
-

4.1.2. Data_sources

-

The ‘Data_sources’ section of the configuration file dictates which information will be added to the -mesh when constructed. Each item in the list of data sources represents a single data set to be added -to the mesh.

-
"Data_sources": [
-             {
-                 "loader": "GEBCO",
-                 "params": {
-                     "downsample_factors": [
-                         5,
-                         5
-                     ],
-                     "file": "../datastore/bathymetry/GEBCO/gebco_2022_n-40.0_s-90.0_w-140.0_e0.0.nc",
-                     "data_name": "elevation",
-                     "value_fill_types": "parent",
-                     "aggregate_type": "MAX",
-                     "splitting_conditions": [
-                         {
-                             "elevation": {
-                                 "threshold": -10,
-                                 "upper_bound": 1,
-                                 "lower_bound": 0
-                             }
-                         }
-                     ]
-                 }
-             },
-             {
-                 "loader": "AMSR_folder",
-                 "params": {
-                     "folder": "../datastore/sic/amsr_south/",
-                     "hemisphere": "south",
-                     "value_fill_types": "parent",
-                     "data_name": "SIC",
-                     "splitting_conditions": [
-                         {
-                             "SIC": {
-                                 "threshold": 35,
-                                 "upper_bound": 0.9,
-                                 "lower_bound": 0.1
-                             }
-                         }
-                     ]
-                 }
-             },
-             {
-                 "loader": "SOSE",
-                 "params": {
-                     "file": "../datastore/currents/sose_currents/SOSE_surface_velocity_6yearMean_2005-2010.nc",
-                     "value_fill_types": "parent",
-                     "data_name": "uC,vC"
-                 }
-             },
-             {
-                 "loader": "thickness",
-                 "params": {
-                     "data_name": "thickness",
-                     "file": "",
-                     "value_fill_types": "parent"
-                 }
-             },
-             {
-                 "loader": "density",
-                 "params": {
-                     "data_name": "density",
-                     "file": "",
-                     "value_fill_types": "parent"
-                 }
-             }
-         ]
-
-
-

where the variables are as follows:

-
    -
  • -
    loader (string)The name of the data loader to be used to add this data source to the mesh

    see the abstractScalarDataloader doc page for further information about the available data loaders.

    -
    -
    -
    • -

  • params (dict) : A dictionary containing optional parameters which may be required by the specified data loader in ‘loader’. These parameters include the following:

    -
    -
      -
    • -
      splitting_conditions (list)The conditions which determine if a cellbox should be split.
        -

      • threshold (float) : The threshold above or below which CellBoxes will be sub-divided to separate the datapoints into homogeneous cells.

        • -

      • upperBound (float) : A percentage normalised between 0 and 1. A CellBox is deemed homogeneous if greater than this percentage of data points are above the given threshold.

        • -

      • lowerBound (float) : A percentage normalised between 0 and 1. A Cellbox is deemed homogeneous if less than this percentage of data points are below the given threshold.

        • -
      -
      -
      -
      • -

    • value_fill_types (string) : Determines the actions taken if a cellbox is generated with no data. The possible values are either parent (which implies assigning the value of the parent cellbox), zero or nan.

      • -

    • aggregate_type (string) : Specifies how the data within a cellbox will be aggregated. By default aggregation takes place by calculating the mean of all data points within the CellBoxes bounds. aggregate_type allows this default to be changed to other aggregate function (e.g. MIN, MAX, COUNT).

      • -
    -
    -
    • -
-
-

Note

-

splitting conditions are applied in the order they are specified in the configuration file.

-
-
-
-

4.1.3. splitting

-

Non-uniform mesh refinement is done by selectively sub-dividing cells. Cell sub-division is performed -whenever a cell (of any size) is determined to be inhomogeneous with respect to a specific characteristic -of interest such as SIC or ocean depth (this characteristic is defined as a splitting condition inside the data source’s params as illustrated above). For example, considering SIC, we define a range, from a lower bound -lb to an upper bound ub, and a threshold, t. Then, a cell is considered inhomogeneous if between lb and ub -of the ice measurements in that cell are at t% or higher. If the proportion of ice in the cell above the -t% concentration is below lb%, we consider the cell to be homogeneous open water: such a cell can be navigated -through so does not require splitting based on this homogeneity condition (though may still be split based on others). -At the other end of the range, if the proportion is greater than ub%, then the cell is considered -homogeneous ice: such a cell cannot be navigated through and will not be split on this or any subsequent splitting conditions. -If the proportion is between these bounds, then the cell is inhomogeneous and must be split so that the homogeneous sub-cells can be found.

-

The splitting section of the Configuration file defines the splitting parameters that are common across all the data sources and determines how the CellBoxes that form the -Mesh will be sub-divided based on the homogeneity of the data points contained within to form a mesh -of non-uniform spatial resolution.

-
"splitting": {
-   "split_depth":4,
-   "minimum_datapoints":5
- }
-
-
-

where the variables are as follows:

-
    -

  • split_depth (float) : The number of times the MeshBuilder will sub-divide each initial cellbox (subject to satisfying the splitting conditions of each data source)

    • -

  • minimum_datapoints (float) : The minimum number of datapoints a cellbox must contain for each value type to be able to split

    • -
-
-
-
-

4.2. Vessel Performance configuration file example.

-

The Vessel configuration file provides all the necessary information about the vessel that will execute -the routes such that performance parameters (e.g. speed or fuel consumption) can be calculated by the -VesselPerformanceModeller class. A file of this structure is also used as a command line argument for -the ‘add_vehicle’ entry point.

-
{
-  "VesselType": "SDA",
-  "MaxSpeed": 26.5,
-  "Unit": "km/hr",
-  "Beam": 24.0,
-  "HullType": "slender",
-  "ForceLimit": 96634.5,
-  "MaxIceConc": 80,
-  "MinDepth": -10
-}
-
-
-

Above are a typical set of configuration parameters used for a vessel where the variables are as follows:

-
    -

  • VesselType (string) : The specific vessel class to use for performance modelling.

    • -

  • MaxSpeed (float) : The maximum speed of the vessel in open water.

    • -

  • Unit (string) : The units of measurement for the speed of the vessel (currently only “km/hr” is supported).

    • -

  • Beam (float) : The beam (width) of the ship in metres.

    • -

  • HullType (string) : The hull profile of the ship (should be one of either “slender” or “blunt”).

    • -

  • ForceLimit (float) : The maximum allowed resistance force, specified in Newtons.

    • -

  • MaxIceConc (float) : The maximum Sea Ice Concentration the vessel is able to travel through given as a percentage.

    • -

  • MinDepth (float) : The minimum depth of water the vessel is able to travel through in metres. Negative values correspond to a depth below sea level.

    • -
-
-
-

4.3. Route Planning configuration file example.

-
{
-   "Route_Info": {
-      "Objective_Function": "traveltime",
-      "Path_Variables": [
-         "fuel",
-         "traveltime"
-      ],
-      "WayPoints": "./WayPoints_org.csv",
-      "Source_Waypoints": ["LongPathStart"],
-      "End_Waypoints": [],
-      "Vector Names": ["uC","vC"],
-      "Zero_Currents": false,
-      "Variable_Speed": true,
-      "Time_Unit": "days",
-      "Early_Stopping_Criterion": true,
-      "Save_Dijkstra_Graphs": false,
-      "Smooth Path":{
-         "Max Iteration Number":1000,
-         "Minimum Difference": 1e-3
-      }
-   }
-}
-
-
-

above is a typical set of configuration parameters used for route planning where the variables are as follows:

-
    -

  • objective_function (string) : Defining the objective function to minimise for the construction of the mesh based Dijkstra routes. This variable can either be defined as ‘traveltime’ or ‘fuel’ .

    • -

  • path_variables (list<(string)>) : A list of strings of the route variables to return in the output geojson.

    • -

  • waypoints_path (string) : A filepath to a CSV containing the user defined waypoints with columns including: ‘Name’,’Lat’,”Long”

    • -

  • source_waypoints (list<(string)>): The source waypoints to define the routes from. The names in this list must be the same as names within the waypoints_path file. If left blank then routes will be determined from all waypoints.

    • -

  • end_waypoints (list<(string)>) : The end waypoints to define the routes to. The names in this list must be the same as names within the waypoints_path file. If left blank then routes will be determined to all waypoints.

    • -

  • vector_names (list<(string)>) : The definition of the horizontal and vertical components of the vector acting on the ship within each CellBox. These names must be within the ‘cellboxes’.

    • -

  • zero_currents (bool) : For development use only. Removes the effect of currents acting on the ship, setting all current vectors to zero.

    • -

  • Variable_Speed (bool) : For development use only. Removes the effect of variable speed acting on the ship, ship speed set to max speed defined by ‘Vessel’:{‘Speed’:…}.

    • -

  • time_unit (string) : The time unit to output the route path information. Currently only takes ‘days’, but will support ‘hrs’ in future releases.

    • -

  • early_stopping_criterion (bool) : For development use only. Dijkstra early stopping criterion. For development use only if the full objective_function from each starting waypoint is required. Should be used in conjunction with save_dijkstra_graphs.

    • -

  • save_dijkstra_graphs (bool) : For development use only. Saves the full dijkstra graph representing the objective_function value across all mesh cells.

    • -
  • -
    Smooth Path
      -

    • max_iteration_number (int) : For development use only. Maximum number of iterations in the path smoothing. For most paths convergence is met 100x earlier than this value.

      • -

    • minimum_difference (float) : For development use only. Minimum difference between two path smoothing iterations before convergence is triggered

      • -
    -
    -
    -
    • -
-
-
- - -
-
- -
-
-
-
- - - - \ No newline at end of file diff --git a/docs/html/sections/Dataloaders/DataLoaderInterface.html b/docs/html/sections/Dataloaders/DataLoaderInterface.html index 435ee595..9edac85b 100644 --- a/docs/html/sections/Dataloaders/DataLoaderInterface.html +++ b/docs/html/sections/Dataloaders/DataLoaderInterface.html @@ -4,7 +4,7 @@ - 5.1. Dataloader Interface — polar_route 0.0.17 documentation + 7.1. Dataloader Interface — polar_route 0.2.18 documentation - - - - - - - - - - - - - -
- - -
- -
-
-
- -
-
-
-
- -
-

8. Methods - Mesh Construction

-

Throughout this section we will outline an overview of the Environment Mesh Construction module, describe the main classes that composes the module and illustrate a use case for the Discrete Meshing of the environment.

-
-

8.1. Mesh Construction Overview

-

A general overview of the method can be seen below:

-
-../_images/FlowDiagram_MeshGraph.png -
-

Overview figure of the Discrete Meshing from the multi-data input.

-
-
-
-
-

8.2. Mesh Construction Design

-

The below UML diagram describes how the Environment Mesh Construction module is designed. It depicts the classes of the module and how they interact with each other.

-
-../_images/mesh-construct-UML.drawio.png -
-
-
-

8.3. Mesh Construction Use case

-

This sequence diagram illustrates a use case for the Discrete Meshing of the environment, where the module’s client starts by initializing the MeshBuilder with a certain mesh configuration (see Input-Configuration section for more details about the configuration format) then calls build_environment_mesh method.

-
-../_images/mesh-build-sequence-diagram.drawio.png -
-

The following diagram depicts the sequence of events that take place inside build_environment_mesh method into details

-
-../_images/build-env-mesh.drawio.png -
-
-
-

8.4. Classes

-

This section describes the main classes of the Mesh Construction module in details

-
-

8.4.1. CellBox

-

Outlined in this section we will discuss the usage of the CellBox functionality of the PolarRoute package. -In this series of class distributions we house our discrete representation of input data. In each CellBox, -we represent a way of accessing the information governing our numerical world, -this includes and is not limited to: Ocean Currents, Sea Ice Concentration and Bathymetric depth.

-
-

Example:

-

An example of running this code can be executed by running the following in a ipython/Jupyter Notebook:

-
from polar_route.mesh_generation.cellbox import cellbox
-
-....
-
-
-

Note:

-
-
-
CellBoxes are intended to be constructed by and used within a Mesh object.

The methods provided are to extract information for CellBoxes contained within a Mesh.

-
-
-
-
-
-
-class polar_route.mesh_generation.cellbox.CellBox(bounds, id)
-

A CellBox represnts a geo-spatial/temporal boundary that enables projecting to information within. -Information about any given value of a CellBox is calculated from aggregating all data points of within those bounds. -CellBoxes may be split into smaller CellBoxes and the data points within distributed between the newly created -CellBoxes so as to construct a non-uniform mesh of CellBoxes, such as within a Mesh.

-
-
-Bounds
-

object that contains the latitude and logtitute range and the time range

-
-
Type:
-

Boundary

-
-
-
- -
-
-id
-

the id of the cellbox

-
-
Type:
-

int

-
-
-
- -
-
-__init__(bounds, id)
-
-
Parameters:
-
    -

  • bounds (Boundary) – encapsulates latitude, longtitude and time range of the CellBox

    • -

  • id (int) – the id of the cellbox

    • -
-
-
-
- -
-
-aggregate()
-

aggregates CellBox data using the associated data_sources’ aggregate type (ex. MEAN, MAX) -and returns AggregatedCellBox object

-
-
Returns:
-

object contains the aggregated data within cellbox bounds.

-
-
Return type:
-

AggregatedCellbox

-
-
-
- -
-
-set_data_source(data_source)
-
-
a method that sets the data source of the cellbox ( which includes the data loaders,

splitting conditions and aggregation type)

-
-
-
-
Parameters:
-

data_source (List <MetaData>) – a list of MetaData objects, each object represents a source of this CellBox data -(where the data comes from, how it is spitted and aggregated)

-
-
-
- -
-
-set_parent(parent)
-

set the parent CellBox, which is the bigger CellBox that conains this CellBox -:param CellBox: the bigger Cellbox object that got splitted to produce this cellbox

-
- -
-
-should_split(stop_index)
-

determines if a cellbox should be split based on the homogeneity -condition of each data type contained within. The homogeneity condition -of values within this cellbox is calculated using the method -‘get_hom_cond’ in each DataLoader object inside CellBox’s metadata

-
-
if ANY data returns ‘HOM’:

do not split

-
-
if ANY data returns ‘MIN’:

do not split

-
-
if ALL data returns ‘CLR’:

do not split

-
-
else (mixture of CLR & HET):

split

-
-
-
-
Parameters:
-
    -

  • stop_index – the index of the data source at which checking the splitting conditions stops.

    • -

  • splitting. (Implemented like this to perform depth-first) –

    • -

  • splitting (Should be deprecated once we switch to breadth-first) –

    • -
-
-
Returns:
-

-
True if the splitting_conditions of this CellBox

will result in the CellBox being split.

-
-
-

-
-
Return type:
-

bool

-
-
-
- -
-
-split(start_id)
-

splits the current cellbox into 4 corners, returns as a list of cellbox objects.

-
-
Parameters:
-

start_id – represenst the start of the splitted cellboxes ids, -usuallly it is the number of the existing cellboxes

-
-
Returns:
-

The 4 corner cellboxes generated by splitting -the cellbox uniformly.

-
-
Return type:
-

list<CellBox>

-
-
-
- -
- -
-
-

8.4.2. MetaData

-
-
-class polar_route.mesh_generation.metadata.Metadata(data_loader, spliiting_conditions=None, value_fill_type='')
-

A Metadata is a class that defines the datasource for a certain Cellbox and the assocated splitting conditions.

-
-
-data_loader
-

object of the DataLoader class that enable projecting to the cellBox data

-
- -
-
-splitting_conditions
-

list of conditions that determine how to split the data accessed by data_loader

-
- -
-
-value_fill_type
-

indicates how to fill a CellBox if it has void data -(ex. use the data in the parent cellbox or assign 0 to the data)

-
-
Type:
-

string

-
-
-
- -
-
-__init__(data_loader, spliiting_conditions=None, value_fill_type='')
-
-
Parameters:
-
    -

  • data_loader (DataLoader) – object of the DataLoader class that enables projecting to the cellBox data

    • -

  • splitting_conditions (List<dict>) – list of conditions that determine how to split CellBox

    • -

  • value_fill_tyep (string) – represents the way the data of a cellBox will be filled -in case it has void data (ex. parent , 0 )

    • -
-
-
-
- -
- -
-
-

8.4.3. MeshBuilder

-

In this section we will discuss the usage of the MeshBuilder functionality of PolarRoute.

-

Example

-

An example of how to run this code can be executed by running the following in an ipython/Jupyter Notebook:

-
from polar_route.mesh_generation.mesh_builder import MeshBuilder
-
-import json
-with open('./config.json', 'r') as f:
-    config = json.load(f)['config']
-
-mesh_builder = MeshBuilder(config)
-mesh_builder.build_environmental_mesh()
-
-
-
-
-class polar_route.mesh_generation.mesh_builder.MeshBuilder(config)
-

A class resposible for building an environment mesh based on a provided config file.

-
-
-__init__(config)
-

Constructs a Mesh from a given config file.

-
-
Parameters:
-

config (dict) –

config file which defines the attributes of the Mesh to be constructed. config is of the form:

-
-

”config”: {

-
-

“Mesh_info”:{

-
-

“Region”: {

-
-

“latMin”: (real),

-

”latMax”: (real),

-

”longMin”: (real),

-

”longMax”: (real),

-

”startTime”: (string) ‘YYYY-MM-DD’,

-

”endTime”: (string) ‘YYYY-MM-DD’,

-

”cellWidth”: (real),

-

”cellHeight” (real),

-

”splitDepth” (int)

-
-

},

-

”Data_sources”: [

-
-

{

-
-

“loader”: (string)

-

”params” (dict)

-
-

}

-
-

],

-

”splitting”: {

-
-

“split_depth”: (int),

-

”minimum_datapoints”: (int)

-

}

-
-
-

}

-
-

}

-
-

”j_grid” (bool): True if the Mesh to be constructed should be of the same format as the original Java CellGrid, to be used for regression testing.

-

-
-
-
- -
-
-build_environmental_mesh()
-

splits the mesh then goes through the mesh cellboxes and builds an evironmental mesh that contains the cellboxes aggregated data

-
-
Returns:
-

an object that represents the constructed nonunifrom mesh and contains the aggregated cellboxs and neighbour graph

-
-
Return type:
-

EnvironmentMesh

-
-
-
- -
-
-split_and_replace(cellbox)
-

Replaces a cellBox given by parameter ‘cellBox’ in this grid with -4 smaller cellBoxes representing the four corners of the given cellBox. -A neighbours map is then created for each of the 4 new cellBoxes -and the neighbours map for all surrounding cell boxes is updated.

-
-
Parameters:
-

cellbox (CellBox) – the CellBox within this Mesh to be split into -4 smaller CellBox objects.

-
-
-
- -
-
-split_to_depth(split_depth)
-

splits all cellboxes in this grid until a maximum split depth -is reached, or all cellboxes are homogeneous.

-
-
Parameters:
-

split_depth (int) – The maximum split depth reached by any CellBox -within this Mesh after splitting.

-
-
-
- -
- -
-
-

8.4.4. AggregatedCellBox

-
-
-class polar_route.mesh_generation.aggregated_cellBox.AggregatedCellBox(boundary, agg_data, id)
-

a class represnts an aggrgated information within a geo-spatial/temporal boundary.

-

Attributes:

-
-

Note

-

All geospatial boundaries of a CellBox are given in a ‘EPSG:4326’ projection

-
-
-
-__init__(boundary, agg_data, id)
-
-
Parameters:
-
    -

  • boundary (Boundary) – encapsulates latitude, longtitude and time range of the CellBox

    • -

  • agg_data (dict) – a dictionary that contains data_names and agg values

    • -

  • id (string) – a string represents cellbox id

    • -
-
-
-
- -
-
-contains_point(lat, long)
-

Returns true if a given lat/long coordinate is contained within this cellBox.

-
-
Parameters:
-
    -

  • lat (float) – latitude of a given point

    • -

  • long (float) – longitude of a given point

    • -
-
-
Returns:
-

-
True if this CellBox contains a point given by

parameters (lat, long)

-
-
-

-
-
Return type:
-

contains_points (bool)

-
-
-
- -
-
-to_json()
-

convert cellBox to JSON

-

The returned object is of the form -

-
-

{

-
-

“geometry” (String): POLYGON(…),

-

“cx” (float): …,

-

“cy” (float): …,

-

“dcx” (float): …,

-

“dcy” (float): …,

-

“agg_value_1” (float): …,

-

…,

-

“agg_value_n” (float): …

-
-

}

-
-
-
Returns:
-

A JSON parsable dictionary representation of this AggregatedCellBox

-
-
Return type:
-

cell_json (dict)

-
-
-
- -
- -
-
-

8.4.5. EnvironmentMesh

-
-
-class polar_route.mesh_generation.environment_mesh.EnvironmentMesh(bounds, agg_cellboxes, neighbour_graph, config)
-

a class that defines the environmental mesh structure and contains each cellbox aggregate information

-
-
-bounds
-

the boundaries of this mesh

-
-
Type:
-

Boundary

-
-
-
- -
-
-agg_cellboxes
-

a list of aggregated cellboxes

-
-
Type:
-

AggregatedCellBox[]

-
-
-
- -
-
-neighbour_graph
-

an object contains each cellbox neighbours information

-
-
Type:
-

NeighbourGraph

-
-
-
- -
-
-config
-

conatins the initial config used to build this mesh

-
-
Type:
-

dict

-
-
-
- -
-
-__init__(bounds, agg_cellboxes, neighbour_graph, config)
-
-
Parameters:
-
    -

  • bounds (Boundary) – the boundaries of this mesh

    • -

  • agg_cellboxes (AggregatedCellBox[]) – a list of aggregated cellboxes

    • -

  • neighbour_graph (NeighbourGraph) – an object contains each cellbox neighbours information

    • -

  • config (dict) – conatins the initial config used to build this mesh

    • -
-
-
-
- -
-
-classmethod load_from_json(mesh_json)
-

Constructs an Env.Mesh from a given env-mesh json file to be used by other modules (ex.Vessel Performance Modeller).

-
-
Parameters:
-

mesh_json (dict) –

a dictionary loaded from an Env-mesh json file of the following format -

-

{

-
-

“config”: {

-
-

“Mesh_info”:{

-
-

“Region”: {

-
-

“latMin”: (real),

-

”latMax”: (real),

-

”longMin”: (real),

-

”longMax”: (real),

-

”startTime”: (string) ‘YYYY-MM-DD’,

-

”endTime”: (string) ‘YYYY-MM-DD’,

-

”cellWidth”: (real),

-

”cellHeight” (real),

-

”splitDepth” (int)

-
-

},

-

”Data_sources”: [

-
-

{

-
-

“loader”: (string)

-

”params” (dict)

-
-

},

-

…,

-

{…} -],

-
-

”splitting”:

-

{

-
-

“split_depth”: (int),

-

”minimum_datapoints”: (int)

-
-

}

-

”cellboxes”: [

-
-

{

-

},

-

…,

-

{…}

-
-

],

-

”neighbour_graph”: [

-
-

{

-

},

-

…,

-

{…}

-
-

]

-
-

}

-
-

}

-
-

}

-

-
-
Returns:
-

object that contains all the json file mesh information.

-
-
Return type:
-

EnvironmentMesh

-
-
-
- -
-
-to_json()
-

Returns this Mesh converted to a JSON object.

-
-
Returns:
-

a string representation of the CellGird parseable as a JSON object. The JSON object is of the form -

-
-

{

-
-

“config”: the config used to initialize the Mesh,

-

”cellboxes”: a list of CellBoxes contained within the Mesh,

-

”neighbour_graph”: a graph representing the adjacency of CellBoxes within the Mesh

-
-

}

-
-

-
-
Return type:
-

json

-
-
-
- -
-
-update_cellbox(index, values)
-

method that adds values to the dict of a cellbox at certain index (to be used by the vessel perf. module to add the perf. metrics to the cellbox)

-
-
Parameters:
-
    -

  • index (int) – the index of the cellbox to be updated

    • -

  • values (dict) – a dict contains perf. metrics names and values

    • -
-
-
-
- -
- -
-
-

8.4.6. NeighbourGraph

-
-
-class polar_route.mesh_generation.neighbour_graph.NeighbourGraph(cellboxes=None, grid_width=0)
-

A NeighbourGraph is a class that defines the graphical representation of the adjacency relationship between CellBoxes in the Mesh.

-
-
-neighbour_graph
-

a dictionary that contains cellboxes ids along with their adjacent neighbours in the following form

-

{

-
-

<CellBox id_1>: {

-
-

“1”: [id_1,…,id_n],

-

“2”: [id_1,…,id_n],

-

“3”: [id_1,…,id_n],

-

“4”: [id_1,…,id_n],

-

“-1”: [id_1,…,id_n],

-

“-2”: [id_1,…,id_n],

-

“-3”: [id_1,…,id_n],

-

“-4”: [id_1,…,id_n],

-
-

},

-

…,

-

{

-
-

<CellBox id_n>: {

-
-

…

-
-

}

-
-

}

-
-

}

-
-
Type:
-

dict

-
-
-
- -
-
-get_neighbour_case(cellbox_a, cellbox_b)
-

Given two cellBoxes (cellbox_a, cellbox_b) returns a case number -representing where the two cellBoxes are touching.

-
-
Parameters:
-
    -

  • cellbox_a (CellBox) – starting CellBox

    • -

  • cellbox_b (CellBox) – destination CellBox

    • -
-
-
Returns:
-

an int representing the direction of the adjacency between input cellbox_a and cellbox_b. The meaning of each case is as follows -

-
-

case 0 -> CellBoxes are not neighbours

-

case 1 -> cellbox_b is the North-East corner of cellbox_a

-

case 2 -> cellbox_b is East of cellbadd_nodeox_a

-

case 3 -> cellbox_b is the South-East corner of cellbox_a

-

case 4 -> cellbox_b is South of cellbox_a

-

case -1 -> cellbox_b is the South-West corner of cellbox_a

-

case -2 -> cellbox_b is West of cellbox_a

-

case -3 -> cellbox_b is the North-West corner of cellbox_a

-

case -4 -> cellbox_b is North of cellbox_a

-
-

-
-
Return type:
-

int

-
-
-
- -
-
-initialise_neighbour_graph(cellboxes, grid_width)
-

initialize the neighbour graph

-
- -
-
-update_neighbours(cellbox_indx, new_neighbours_indx, direction, cellboxes)
-

method that updates the neighbour of a certain cellbox in a specific direction. It removes cellbox_indx from the neighbour_map of its neighbours in a specific direction and add new_neighbour_indx

-
-
Parameters:
-
    -

  • cellbox_index (int) – index of the cellbox that its neighbour will be updated

    • -

  • new_neighbour_indx (int) – the index of the new neighbour that will replace cellbox_index

    • -

  • direction (int) – an int that represents the direction of the neighbours that will get updated (e.g. north, south ,..)

    • -

  • cellboxes (list<CellBox>) – the list that contains all the cellboxes of the mesh

    • -
-
-
-
- -
- -
-
-
- - -
-
- -
-
-
-
- - - - \ No newline at end of file diff --git a/docs/html/sections/Examples.html b/docs/html/sections/Examples.html index 68fd2478..cfa451b6 100644 --- a/docs/html/sections/Examples.html +++ b/docs/html/sections/Examples.html @@ -4,7 +4,7 @@ - 7. Examples of running code — polar_route 0.0.17 documentation + 12. Examples of running code — polar_route 0.2.18 documentation - - - - - - - - - - - - - -
- - -
- -
-
-
- -
-
-
-
- -
-

3. Runnning Codebase

-

The codebase current can be run from either pre-defined python functions or via a command line interface. Outlined below is how to run the separate sections of the software package using either of the two methods.

-
-

3.1. Command Line Interface

-

The PolarRoute package provides 3 CLI entry points, intended to be used in succession to plan a route through a digital enviroment.

-
-../_images/PolarRoute_CLI.png -
-

Overview figure of the Command Line Interface entry points of PolarRoute

-
-
-
-

3.1.1. create_mesh

-

The create_mesh entry point builds a digital enviroment file from a collection of source data, which can then be used -by the vessel performance modeller and route planner.

-
create_mesh <config.json>
-
-
-

positional arguments:

-
config : A configuration file detailing how to build the digital enviroment. JSON parsable
-
-
-

The format of the required <config.json> file can be found in the Input - Configuration section of the documentation.

-

optional arguments:

-
-v (verbose logging)
--o <output location> (set output location for mesh)
-
-
-
-
-

3.1.2. add_vehicle

-

The add_vehicle command allows vehicle specific simulations to be performed on the digital enviroment. This vehicle specific -information is then encoded into the digital enviroment file.

-
add_vehicle <vessel.json> <mesh.json>
-
-
-

positional arguments:

-
vessel : A configuration file detailing the vessel to be simulated in the digital enviroment.
-mesh : A digital enviroment file.
-
-
-

The format for the required <vessel.json> file can be found in the Input - Configuration section of the documentation. -The required <mesh.json> file can be created using the create_mesh command shown above.

-

optional arguments are

-
-v (verbose logging)
--o <output location> (set output location for mesh)
-
-
-
-
-

3.1.3. optimise_routes

-

Optimal routes through a mesh can be calculated using the command:

-
optimise_routes <vessel_mesh.json> <route_config.json> <waypoints.csv>
-
-
-

positional parameters:

-
vessel_mesh : A digital enviroment file with added vessel specific simulations.
-route_config : A configuration file detailing optimisation parameters to be used when route planning.
-waypoints: A .csv file containing waypoints to be travelled between.
-
-
-

The format for the required <route_config.json> file can be found in the Input - Configuration section of the documentation. -The required <vessel_mesh.json> file can be generated using the add_vehicle command shown above. -The format for the requried <waypoints.csv> file is as follows:

-

As table:

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

Name

Lat

Long

Source

Destination

Halley

-75.26722

-27.21694

X

Rothera

-68.3892

-95.2436

South Georiga

-54.87916667

-37.26416667

X

Falklands

-55.63472222

-64.88

Elephant Island

-60.54722222

-55.18138889

-

As .csv:

-
Name,Lat,Long,Source,Destination
-Halley,-75.26722,-27.21694,,X
-Rothera,-68.3892,-95.2436,,
-South Georiga,-54.87916667,-37.26416667,X,
-Falklands,-55.63472222,-64.88,,
-Elephant Island,-60.54722222,-55.18138889,,
-
-
-

Additional waypoints may be added by extending the ‘<waypoints.csv>’ file. Which waypoints are navigated between is determined by -added a X in either the Source or Destination columns. When processed, the route planner will create routes from all -waypoints marked with an X in the source column to all waypoints marked with a X in the destination column.

-

optional arguments are

-
-v (verbose logging)
--o <output location> (set output location for mesh)
--p (output only the caculated path, not the entire mesh
--d (output Dijkstra path as well as smoothed path)
-
-
-
-
-

3.1.4. Plotting

-

Meshes produced at any stage in the route planning process can be visualised using the GeoPlot library found at Link <https://github.com/antarctica/GeoPlot>

-
-
-
-

3.2. Python & iPython Notebooks

-

Route planning may also be done using a python terminal. This is case, the CLI is not required but the steps required for route planning -follow the same format - create a digital enviroment; simulated a vessel against it; optimise a route plan through the digital enviroment.

-
-

3.2.1. Creating the digital enviroment.

-

A configuration file is needed to initialise the `Mesh` object which forms the digital enviroment. This configuration file -is of the same format used in the create_mesh CLI entry-point, and may either be loaded from a json file or constructed -within the python terminal.

-

Loading configuration from json file:

-
import json
-with open('config.json', 'r') as f:
-    config = json.load(f)
-
-
-

The digital enviroment `Mesh` object can then be initialised. This mesh object will be constructed using parameters in it -configuration file. This mesh object can be manipulated further, such as increasing its resolution through further -splitting, adding additional data sources or altering is configuration parameters using functions listed in -the Methods - Mesh Construction section of the documentation.

-
from polar_route.mesh import Mesh
-cg = Mesh(config)
-
-
-

The digital enviroment `Mesh` object can then be cast to a json object and saved to a file. This mesh.json file can then -be used by the CLI entry-point add_vehicle, or the json object can be passed to the `VesselPerformance` object in a python -terminal.

-
mesh = cg.to_json()
-with open('mesh.json') as f:
-    json.dumps(mesh)
-
-
-
-
-

3.2.2. Simulating a Vessel in a Digital Enviroment

-

Once a digital enviroment `Mesh` object has been created, how a vessel interacts with it may be simulated. The `VesselPerformance` -object requires a digital enviroment in json format and vessel specific configuration parameters, also in json format. These may either -be loaded from a file, or created within the python terminal.

-

Loading mesh and vessel from json files:

-
import json
-# Loading digital enviroment from file
-with open('mesh.json', 'r') as f:
-    mesh = json.load(f)
-
-# Loading vessel configuration parameters from file
-with open('vessel.json', 'r') as f:
-    vessel = json.load(f)
-
-
-

The `VesselPerformance` object can then be initialised. This will simulate the performance of the vessel and encodes this information -into the digital enviroment.

-
from polar_route.vessel_performance import VesselPerformance
-vp = VesselPerformance(mesh, vessel)
-
-
-

The `VesselPerformance` object can then be cast to a json object and saved to a file. This vessel_mesh.json file can then -be used by the CLI entry-point optimise_routes, or the json object can be passed to the `RoutePlanner` object in a python -terminal.

-
vessel_mesh = vp.to_json()
-with open('vessel_mesh.json') as f:
-    json.dumps(vessel_mesh)
-
-
-
-
-

3.2.3. Route Optimisation

-

Now that the vessel dependent environmental mesh is defined, and represented in the vessel_performance object, we can -construct routes, with parameters defined by the user in the configuration file. Waypoints are passed as an input -file path, waypoints.csv, discussed more in the Inputs section of the manual pages. The route construction is done -in two stages: construction of the meshed dijkstra optimal routes, .compute_routes(); and, the smoothing of the -dijkstra routes to further optimise the solution and reduce mesh dependencies, .compute_smooth_routes(). -During .compute_routes() the paths are appended to the object as an entry paths, which are replaced by the -smoothed paths after running .compute_smooth_routes(). An additional entry waypoints is generated to give the -waypoints information used in route construction. For further info about the structure of the outputs of the -paths please see the Outputs section of the manual.

-
from polar_route.route_planner import RoutePlanner
-rp = RoutePlanner(vessel_mesh, route_config , waypoints)
-rp.compute_routes()
-rp.compute_smoothed_routes()
-info = rp.to_json()
-
-
-
-
-
- - -
-
- -
-
-
-
- - - - \ No newline at end of file diff --git a/docs/source/conf.py b/docs/source/conf.py index b890cc59..c98bdfd8 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -34,7 +34,7 @@ 'sphinx.ext.autodoc', 'sphinx.ext.coverage', 'sphinx.ext.napoleon', - 'rinoh.frontend.sphinx', + # 'rinoh.frontend.sphinx', 'sphinx.ext.todo', 'sphinx.ext.autosectionlabel', 'sphinx_rtd_theme', diff --git a/docs/source/index.rst b/docs/source/index.rst index ab8198a2..97b3ae7e 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -1,19 +1,34 @@ -Welcome RoutePlanner Manual Pages -===================================== +Welcome to the PolarRoute Manual Pages +====================================== + +PolarRoute is a tool for the optimisation of routes for maritime vehicles travelling in polar waters. +This software package has been developed by the **British Antarctic Survey** (BAS), primarily +for the optimisation of polar routes for the BAS research vessel RRS Sir David Attenborough, +though it is applicable to any vessel (e.g. AUVs). The software is written in Python and is open source. + +For more information on the project, please visit the `PolarRoute website `_ +and follow our `GitHub repository `_. + + +.. note:: The development of this codebase is ongoing and not yet complete. + Please contact the developers for more information. Contents: .. toctree:: - :maxdepth: 1 + :maxdepth: 2 :numbered: - ./sections/Code_structure + ./sections/Code_overview ./sections/Installation - ./sections/running - ./sections/Configuration - ./sections/Dataloaders/overview + ./sections/ipython_notebooks + ./sections/Command_line_interface + ./sections/Configuration/Configuration_overview ./sections/Outputs - ./sections/Examples - ./sections/Discrete_meshing + ./sections/Dataloaders/overview + ./sections/Mesh_Construction/Mesh_construction_overview ./sections/Vehicle_specifics + ./sections/Route_calculation ./sections/Route_optimisation + ./sections/Examples + diff --git a/docs/html/_sources/sections/Code_structure.rst.txt b/docs/source/sections/Code_overview.rst similarity index 87% rename from docs/html/_sources/sections/Code_structure.rst.txt rename to docs/source/sections/Code_overview.rst index e48ed478..ce46fe6f 100644 --- a/docs/html/_sources/sections/Code_structure.rst.txt +++ b/docs/source/sections/Code_overview.rst @@ -23,7 +23,7 @@ The outline of the toolkit can be separated into the four main sections shown in The separate stages can be broken down into: 1. :ref:`Dataloaders ` - Reading in different datasets of differing types. Throughout this section we will outline the form that the input datasets should take and useful tips for pre-processing your data. -2. :ref:`Mesh Construction` - Generating a Digital Twin of the environmental conditions. In this section we outline the different Python classes that are used to construct a discretised representation across the user defined datasets, giving a coding background to the dynamic splitting of the mesh to finer resolution in regions of datasets that are spatially varying. +2. :ref:`Mesh Construction ` - Generating a Digital Twin of the environmental conditions. In this section we outline the different Python classes that are used to construct a discretised representation across the user defined datasets, giving a coding background to the dynamic splitting of the mesh to finer resolution in regions of datasets that are spatially varying. 3. :ref:`Vessel Performance ` - Application of vehicle specific features applied to the discrete mesh. In this section we will supply the user with the knowledge of how vehicle specific features are applied to the discrete mesh or with variables applied to the computational graph of the mesh. 4. :ref:`Route Planner` - Generating grid-based dijkstra paths and data constrained path smoothing from the gridded solutions - In this section we will give the user the background to constructing paths between user defined waypoints that minimise a specific objective function (e.g. travel time, fuel). Once the gridded Dijkstra paths are formulated we outline a smoothing based procedure that uses the data information to generate non-gridded improved route paths. @@ -33,7 +33,7 @@ The separate stages can be broken down into: *Overview figure outlining the Input/Output of all sections of the Route Planning pipeline* -Each stage of this pipeline makes use of a configuration file, found in the :ref:`configuration` section of this document +Each stage of this pipeline makes use of a configuration file, found in the :ref:`Configuration Overview` section of the documentation and produces an output file, the form of which can be found in the :ref:`outputs` section of this document. In addition to the main section of the codebase we have also developed a series of plotting classes that allows the user to generate interactive maps and static figures for the Mesh Features and Route Paths. These can be found in the `Plotting` section later in the manual. \ No newline at end of file diff --git a/docs/source/sections/Code_structure.rst b/docs/source/sections/Code_structure.rst deleted file mode 100644 index e48ed478..00000000 --- a/docs/source/sections/Code_structure.rst +++ /dev/null @@ -1,39 +0,0 @@ -********** -Background -********** - -Code Overview -############# - -We present an automated route-planning method for use by an ice-strengthened vessel operating in polar regions. We build on the method developed for underwater vehicle long-distance route planning reported in Fox et al (2021). We start with the same grid-based route construction approach to obtain routes that satisfy constraints on the performance of the ship in ice. We then apply a novel route-smoothing method to the resulting routes, shortening the grid-based routes and ensure that routes follow great circle arcs where possible. This two-stage process efficiently generates routes that follow standard navigation solutions in open water and optimise vessel performance in and around areas dominated by sea ice. While we have focussed on navigation in and around polar ice, our methods are also applicable to shipping in a broader context (e.g.: commercial shipping) where route-planning must be responsive to changing local and weather conditions. - - -Code Structure -############## -The outline of this manual is to provide the user with all the tools that they need to run the software for a set of examples. We also hope that the background information supplied for each section allows the user to understand the methods used throughout this toolkit. - -The outline of the toolkit can be separated into the four main sections shown in the Figure below - -.. figure:: ./Figures/FlowDiagram_Overview.png - :align: center - :width: 700 - - *Overview figure outlining the stages in the RoutePlanner* - -The separate stages can be broken down into: - -1. :ref:`Dataloaders ` - Reading in different datasets of differing types. Throughout this section we will outline the form that the input datasets should take and useful tips for pre-processing your data. -2. :ref:`Mesh Construction` - Generating a Digital Twin of the environmental conditions. In this section we outline the different Python classes that are used to construct a discretised representation across the user defined datasets, giving a coding background to the dynamic splitting of the mesh to finer resolution in regions of datasets that are spatially varying. -3. :ref:`Vessel Performance ` - Application of vehicle specific features applied to the discrete mesh. In this section we will supply the user with the knowledge of how vehicle specific features are applied to the discrete mesh or with variables applied to the computational graph of the mesh. -4. :ref:`Route Planner` - Generating grid-based dijkstra paths and data constrained path smoothing from the gridded solutions - In this section we will give the user the background to constructing paths between user defined waypoints that minimise a specific objective function (e.g. travel time, fuel). Once the gridded Dijkstra paths are formulated we outline a smoothing based procedure that uses the data information to generate non-gridded improved route paths. - -.. figure:: ./Figures/PolarRoute_CodeFlowDiagram.png - :align: center - :width: 700 - - *Overview figure outlining the Input/Output of all sections of the Route Planning pipeline* - -Each stage of this pipeline makes use of a configuration file, found in the :ref:`configuration` section of this document -and produces an output file, the form of which can be found in the :ref:`outputs` section of this document. - -In addition to the main section of the codebase we have also developed a series of plotting classes that allows the user to generate interactive maps and static figures for the Mesh Features and Route Paths. These can be found in the `Plotting` section later in the manual. \ No newline at end of file diff --git a/docs/source/sections/Command_line_interface.rst b/docs/source/sections/Command_line_interface.rst new file mode 100644 index 00000000..7fb4b897 --- /dev/null +++ b/docs/source/sections/Command_line_interface.rst @@ -0,0 +1,254 @@ +############################### +Command Line Interface +############################### + +The PolarRoute package provides 4 CLI entry points, intended to be used in succession to plan a route through a digital environment. + +.. figure:: ./Figures/PolarRoute_CLI.png + :align: center + :width: 700 + + *Overview figure of the Command Line Interface entry points of PolarRoute* + +^^^^^^^^^^^^^^^^^^ +create_mesh +^^^^^^^^^^^^^^^^^^ +The *create_mesh* entry point builds a digital environment file from a collection of source data, which can then be used +by the vessel performance modeller and route planner. + +:: + + create_mesh + +positional arguments: + +:: + + config : A configuration file detailing how to build the digital environment. JSON parsable + +The format of the required ** file can be found in the :ref:`configuration - mesh construction` section of the documentation. + +optional arguments: + +:: + + -v (verbose logging) + -o (set output location for mesh) + + +The format of the returned mesh.json file is explain in :ref:`the mesh.json file` section of the documentation. + +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +add_vehicle +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +The *add_vehicle* command allows vehicle specific simulations to be performed on the digital environment. This vehicle specific +information is then encoded into the digital environment file. + +:: + + add_vehicle + +positional arguments: + +:: + + vessel_config : A configuration file detailing the vessel to be simulated in the digital environment. + mesh : A digital environment file. + +The format for the required ** file can be found in the :ref:`configuration - vessel performance modeller` section of the documentation. +The required ** file can be created using the :ref:`create_mesh` command shown above. + +optional arguments are + +:: + + -v (verbose logging) + -o (set output location for mesh) + +The format of the return Vessel_Mesh.json file is explain in :ref:`the vessel_mesh.json file` section of the documentation. + +^^^^^^^^^^^^^^^^^^ +optimise_routes +^^^^^^^^^^^^^^^^^^ +Optimal routes through a mesh can be calculated using the command: + +:: + + optimise_routes + +positional parameters: + +:: + + vessel_mesh : A digital environment file with added vessel specific simulations. + route_config : A configuration file detailing optimisation parameters to be used when route planning. + waypoints: A .csv file containing waypoints to be travelled between. + + +The format for the required ** file can be found in the :ref:`configuration - route planning` section of the documentation. +The required ** file can be generated using the :ref:`add_vehicle` command shown above. +The format for the required ** file is as follows: + +As table: + ++------------------+---------------+---------------+---------+---------------+ +| Name | Lat | Long | Source | Destination | ++==================+===============+===============+=========+===============+ +| Halley | -75.26722 | -27.21694 | | X | ++------------------+---------------+---------------+---------+---------------+ +| Rothera | -68.3892 | -95.2436 | | | ++------------------+---------------+---------------+---------+---------------+ +| South Georgia | -54.87916667 | -37.26416667 | X | | ++------------------+---------------+---------------+---------+---------------+ +| Falklands | -55.63472222 | -64.88 | | | ++------------------+---------------+---------------+---------+---------------+ +| Elephant Island | -60.54722222 | -55.18138889 | | | ++------------------+---------------+---------------+---------+---------------+ + +As .csv: + +:: + + Name,Lat,Long,Source,Destination + Halley,-75.26722,-27.21694,,X + Rothera,-68.3892,-95.2436,, + South Georgia,-54.87916667,-37.26416667,X, + Falklands,-55.63472222,-64.88,, + Elephant Island,-60.54722222,-55.18138889,, + +Additional waypoints may be added by extending the '' file. Which waypoints are navigated between is determined by +added a **X** in either the *Source* or *Destination* columns. When processed, the route planner will create routes from all +waypoints marked with an **X** in the source column to all waypoints marked with a **X** in the *destination* column. + +optional arguments are + +:: + + -v (verbose logging) + -o (set output location for mesh) + -p (output only the calculated path, not the entire mesh) + -d (output Dijkstra path as well as smoothed path) + + +The format of the returned ** file is explained in :ref:`the route.json file` section of the documentation. + +^^^^^^^^^^^^^^^^^^ +export_mesh +^^^^^^^^^^^^^^^^^^ +Once a mesh has been built using the :ref:`create_mesh` command, it can be exported other file types for +use in other systems (such as GIS software) using the the *export_mesh* command. + +:: + + export_mesh + +positional arguments: + +:: + + mesh : A digital environment file. + output_location : The location to save the exported mesh. + output_format : The format to export the mesh to. + + +supported output formats are: + * .json (default) [JSON] + * geo.json (collection of polygons for each cell in the mesh) [GEOJSON] + * .tif (rasterised mesh) [TIF] + +optional arguments: + +:: + + -v : verbose logging + -o : output location + -format_conf: configuration file for output format (required for TIF export, optional for GEOJSON) + +the format of the ** file required for .tif export is as follows: + +:: + + { + "data_name": "elevation", + "sampling_resolution": [ + 150, + 150 + ], + "projection": "3031", + "color_conf": "path to/color_conf.txt" + } + +where the variables are as follows: + * **data_name** : The name of the data to be exported. This is the name of the data layer in the mesh. + * **sampling_resolution** : The resolution of the exported mesh. This is a list of two values, the first being the x resolution and the second being the y resolution. + * **projection** : The projection of the exported mesh. This is a string of the EPSG code of the projection. + * **color_conf** : The path to the color configuration file. This is a text file containing the color scheme to be used when exporting the mesh. The format of this file is as follows: + +:: + + 0 240 250 160 + 30 230 220 170 + 60 220 220 220 + 100 250 250 250 + +The color_conf.txt contains 4 columns per line: the data_name value and the +corresponding red, green, blue value between 0 and 255. + +When using the *-format_conf* option for GEOJSON output the only variable required is the **data_name**. This specifies which of the data layers you want to export as a single GEOJSON file. + +^^^^^^^^^^^^^^^^^^ +rebuild_mesh +^^^^^^^^^^^^^^^^^^ + +Once a mesh has been built using the :ref:`create_mesh` command the *rebuild_mesh* command allows a user to rebuild it based on the +original configs stored within the mesh file. This is primarily useful for debugging or to update old meshes produced with an older version +of the package. Running this command will also reapply any vessel performance simulations, if these were run on the original mesh. + +:: + + rebuild_mesh + +optional arguments: + +:: + + -v : verbose logging + -o : output location + +^^^^^^^^^^^^^^^^^^ +calculate_route +^^^^^^^^^^^^^^^^^^ +The cost of a user-defined route through a pre-generated mesh containing vehicle information can be calculated using the command: + +:: + + calculate_route + +positional parameters: + +:: + + vessel_mesh : A digital environment file with added vessel specific simulations. + route : A route file containing waypoints on a user-defined path. + +optional arguments: + +:: + + -v : verbose logging + -o : output location + +Running this command will calculate the cost of a route between a set of waypoints provided in either csv or geojson +format. The route is assumed to travel from waypoint to waypoint in the order they are given, following a rhumb line. +The format of the output ** file is identical to that from the :ref:`optimise_routes` command. +This is explained in :ref:`the route.json file` section of the documentation. The time and fuel cost of the route will +also be logged out once the route file has been generated. If the user-defined route crosses a cell in the mesh that is +considered inaccessible to the vessel then a warning will be displayed and no route will be saved. + +^^^^^^^^^^^^^^^^^^ +Plotting +^^^^^^^^^^^^^^^^^^ +Meshes produced at any stage in the route planning process can be visualised using the GeoPlot +library found at the relevant `GitHub page `_. Meshes and routes can also be +plotted in other GIS software such as QGIS by exporting the mesh to a common format such as .geojson or .tif using +the :ref:`export_mesh` command. diff --git a/docs/source/sections/Configuration/Configuration_overview.rst b/docs/source/sections/Configuration/Configuration_overview.rst new file mode 100644 index 00000000..78d2be68 --- /dev/null +++ b/docs/source/sections/Configuration/Configuration_overview.rst @@ -0,0 +1,42 @@ +###################################### +Configuration Overview +###################################### + +In this section we will outline the standard structure for a configuration file used in +all portions of the PolarRoute software package. + +Each stage of the route-planning process is configured by a separate configuration file. +The configuration files are written in JSON, and are passed to each stage of the +route-planning process as command-line arguments or through a Python script. + +Example configuration files are provided in the `config` directory. + +Descriptions of the configuration options for the Mesh Construction can be found in +the :ref:`Configuration - Mesh Construction` section of the documentation. + +Descriptions of the configuration options for the Vessel Performance Modelling can +be found in the :ref:`Configuration - Vessel Performance Modeller` section of the +documentation. + +Descriptions of the configuration options for Route Planning can be found in the +:ref:`Configuration - Route Planning` section of the documentation. + +.. toctree:: + :maxdepth: 1 + + ./Mesh_construction_config + ./Vessel_performance_config + ./Route_planning_config + + +Config Validation +^^^^^^^^^^^^^^^^^ + +At each major stage of the code (mesh construction, vessel performance modelling, +and route planning), the configs supplied are validated using a template JSON Schema. +These schema check that the correct keywords and datatypes are provided in the config +JSON's, as well as the waypoints CSV file. They also perform rudimentary checks on the +values to ensure that they make sense (e.g. startTime is before endTime). + +.. automodule:: polar_route.config_validation.config_validator + :members: \ No newline at end of file diff --git a/docs/source/sections/Configuration.rst b/docs/source/sections/Configuration/Mesh_construction_config.rst similarity index 58% rename from docs/source/sections/Configuration.rst rename to docs/source/sections/Configuration/Mesh_construction_config.rst index 89d14615..90dde7e5 100644 --- a/docs/source/sections/Configuration.rst +++ b/docs/source/sections/Configuration/Mesh_construction_config.rst @@ -1,19 +1,9 @@ -.. _configuration: - -"""""""""""""""""""""""" -Input - Configuration -"""""""""""""""""""""""" - -In this section we will outline the standard structure for a configuration file used in all portions of the PolarRoute software package. - -Outlined below is an example configuration file for running PolarRoute. Using this as a template we will go through each of the definitions in turn, describing what each portion does with the subsections in the manual given by the main sections in the configuration file. - ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Mesh Construction configuration file example. +Configuration - Mesh Construction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -:: - - "config": { +.. code-block:: json + + { "Mesh_info": { "Region": { "latMin": -65, @@ -49,7 +39,7 @@ Mesh Construction configuration file example. } }, { - "loader": "AMSR_folder", + "loader": "AMSR", "params": { "folder": "../datastore/sic/amsr_south/", "hemisphere": "south", @@ -71,7 +61,14 @@ Mesh Construction configuration file example. "params": { "file": "../datastore/currents/sose_currents/SOSE_surface_velocity_6yearMean_2005-2010.nc", "value_fill_types": "parent", - "data_name": "uC,vC" + "data_name": "uC,vC", + "splitting_conditions": [ + { + "uC,vC": { + "curl": 0.04 + } + } + ] } }, { @@ -96,6 +93,7 @@ Mesh Construction configuration file example. "minimum_datapoints": 5 } } + } The configuration file used for mesh construction contains information required to build the discretised environment in which the route planner @@ -141,11 +139,11 @@ where the variables are as follows: "startTime": "TODAY - 3", "endTime": "TODAY" -################# -Data_sources -################# +############ +Data Sources +############ -The 'Data_sources' section of the configuration file dictates which information will be added to the +The 'Data Sources' section of the configuration file dictates which information will be added to the mesh when constructed. Each item in the list of data sources represents a single data set to be added to the mesh. @@ -175,7 +173,7 @@ to the mesh. } }, { - "loader": "AMSR_folder", + "loader": "AMSR", "params": { "folder": "../datastore/sic/amsr_south/", "hemisphere": "south", @@ -197,7 +195,14 @@ to the mesh. "params": { "file": "../datastore/currents/sose_currents/SOSE_surface_velocity_6yearMean_2005-2010.nc", "value_fill_types": "parent", - "data_name": "uC,vC" + "data_name": "uC,vC", + "splitting_conditions": [ + { + "uC,vC": { + "curl": 0.04 + } + } + ] } }, { @@ -226,32 +231,66 @@ where the variables are as follows: see the :ref:`abstractScalarDataloader doc page` for further information about the available data loaders. * **params** *(dict)* : A dictionary containing optional parameters which may be required by the specified data loader in 'loader'. These parameters include the following: - * **splitting_conditions** *(list)* : The conditions which determine if a cellbox should be split. + * **value_fill_types** *(string)* : Determines the actions taken if a cellbox is generated with no data. The possible values are either parent (which implies assigning the value of the parent cellbox), zero or nan. + * **aggregate_type** *(string)* : Specifies how the data within a cellbox will be aggregated. By default aggregation takes place by calculating the mean of all data points within the CellBoxes bounds. *aggregate_type* allows this default to be changed to other aggregate function (e.g. MIN, MAX, COUNT). + * **[scalar] splitting_conditions** *(list)* : The conditions which determine if a cellbox should be split based on a scalar dataset. * **threshold** *(float)* : The threshold above or below which CellBoxes will be sub-divided to separate the datapoints into homogeneous cells. * **upperBound** *(float)* : A percentage normalised between 0 and 1. A CellBox is deemed homogeneous if greater than this percentage of data points are above the given threshold. * **lowerBound** *(float)* : A percentage normalised between 0 and 1. A Cellbox is deemed homogeneous if less than this percentage of data points are below the given threshold. - * **value_fill_types** *(string)* : Determines the actions taken if a cellbox is generated with no data. The possible values are either parent (which implies assigning the value of the parent cellbox), zero or nan. - * **aggregate_type** *(string)* : Specifies how the data within a cellbox will be aggregated. By default aggregation takes place by calculating the mean of all data points within the CellBoxes bounds. *aggregate_type* allows this default to be changed to other aggregate function (e.g. MIN, MAX, COUNT). - + * **[vector] splitting_conditions** *(list)* : The conditions which determine if a cellbox should be split based on a vector dataset. + * **curl** *(float)* : The threshold value above which a cellbox will split. Is calculated as the maximum value of **Curl(F)** within a cellbox (where **F** is the vector field). .. note:: - splitting conditions are applied in the order they are specified in the configuration file. + Splitting conditions are applied in the order they are specified in the configuration file. + + +######### +Splitting +######### + +Non-uniform mesh refinement is done by selectively sub-dividing cells. Cell +sub-division is performed whenever a cell (of any size) is determined to be +inhomogeneous with respect to a specific characteristic of interest such as +SIC or ocean depth (this characteristic is defined as a splitting condition +inside the data source's params as illustrated above). + +In the figure below, a graphical representation of the splitting +decision making process is shown. In this, the blue histogram represents an +arbitrary dataset, the orange histogram represents the values in the dataset +that are greater than the threshold (and denoted 'A' in the formulae), the +black line is the threshold value, 'UB' is the upper bound, and 'LB' is the +lower bound. To be specific, this is a probability distribution, and hence the +area under the orange curve 'A' is a decimal fraction of the total dataset +(which would have an area of 1). + +.. _splitting_fig: +.. figure:: ../Figures/splitting_conditions.png + :align: center + :width: 700 + *Plot showing how cellbox homogeneity is decided* -############## -splitting -############## +* If the orange area :code:`A <= LB`, then the homogeneity condition is :code:`CLR`. +* If the orange area :code:`A >= LB`, then the homogeneity condition is :code:`HOM`. +* If the orange area :code:`LB < A < UB`, then the homogeneity condition is :code:`HET`. -Non-uniform mesh refinement is done by selectively sub-dividing cells. Cell sub-division is performed -whenever a cell (of any size) is determined to be inhomogeneous with respect to a specific characteristic -of interest such as SIC or ocean depth (this characteristic is defined as a splitting condition inside the data source's params as illustrated above). For example, considering SIC, we define a range, from a lower bound -*lb* to an upper bound *ub*, and a threshold, *t*. Then, a cell is considered inhomogeneous if between *lb* and *ub* -of the ice measurements in that cell are at *t%* or higher. If the proportion of ice in the cell above the -*t%* concentration is below *lb%*, we consider the cell to be homogeneous open water: such a cell can be navigated -through so does not require splitting based on this homogeneity condition (though may still be split based on others). -At the other end of the range, if the proportion is greater than *ub%*, then the cell is considered -homogeneous ice: such a cell cannot be navigated through and will not be split on this or any subsequent splitting conditions. -If the proportion is between these bounds, then the cell is inhomogeneous and must be split so that the homogeneous sub-cells can be found. +:code:`CLR`, :code:`HOM`, and :code:`HET` are used to determine if a cellbox +should be split or not. There is also a fourth homogeneity condition :code:`MIN` +which is only triggered when the number of datapoints within the cellbox is lower +than the minimum_datapoints specified in the config. The values are checked in this order: + +#. :code:`MIN` - Do not split the cellbox +#. :code:`CLR` - Do not split the cellbox, but allow splitting if other datasets return :code:`HET` +#. :code:`HOM` - Do not split the cellbox +#. :code:`HET` - Split the cellbox + +In the extreme case where :code:`UB = 1` and :code:`LB = 0`, the cellbox will +always split if there are any datapoints above or below the UB/LB respectively. +Imagining a plot similar to the figure above, + +* If the histogram is entirely blue, :code:`return 'CLR'` +* If the histogram is entirely orange, :code:`return 'HOM'` +* If there's both colours, :code:`return 'HET'` The splitting section of the Configuration file defines the splitting parameters that are *common* across all the data sources and determines how the CellBoxes that form the Mesh will be sub-divided based on the homogeneity of the data points contained within to form a mesh @@ -270,81 +309,4 @@ where the variables are as follows: -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Vessel Performance configuration file example. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -The Vessel configuration file provides all the necessary information about the vessel that will execute -the routes such that performance parameters (e.g. speed or fuel consumption) can be calculated by the -`VesselPerformanceModeller` class. A file of this structure is also used as a command line argument for -the 'add_vehicle' entry point. - -:: - - { - "VesselType": "SDA", - "MaxSpeed": 26.5, - "Unit": "km/hr", - "Beam": 24.0, - "HullType": "slender", - "ForceLimit": 96634.5, - "MaxIceConc": 80, - "MinDepth": -10 - } - -Above are a typical set of configuration parameters used for a vessel where the variables are as follows: - -* **VesselType** *(string)* : The specific vessel class to use for performance modelling. -* **MaxSpeed** *(float)* : The maximum speed of the vessel in open water. -* **Unit** *(string)* : The units of measurement for the speed of the vessel (currently only "km/hr" is supported). -* **Beam** *(float)* : The beam (width) of the ship in metres. -* **HullType** *(string)* : The hull profile of the ship (should be one of either "slender" or "blunt"). -* **ForceLimit** *(float)* : The maximum allowed resistance force, specified in Newtons. -* **MaxIceConc** *(float)* : The maximum Sea Ice Concentration the vessel is able to travel through given as a percentage. -* **MinDepth** *(float)* : The minimum depth of water the vessel is able to travel through in metres. Negative values correspond to a depth below sea level. - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Route Planning configuration file example. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -:: - - { - "Route_Info": { - "Objective_Function": "traveltime", - "Path_Variables": [ - "fuel", - "traveltime" - ], - "WayPoints": "./WayPoints_org.csv", - "Source_Waypoints": ["LongPathStart"], - "End_Waypoints": [], - "Vector Names": ["uC","vC"], - "Zero_Currents": false, - "Variable_Speed": true, - "Time_Unit": "days", - "Early_Stopping_Criterion": true, - "Save_Dijkstra_Graphs": false, - "Smooth Path":{ - "Max Iteration Number":1000, - "Minimum Difference": 1e-3 - } - } - } - -above is a typical set of configuration parameters used for route planning where the variables are as follows: - -* **objective_function** *(string)* : Defining the objective function to minimise for the construction of the mesh based Dijkstra routes. This variable can either be defined as 'traveltime' or 'fuel' . -* **path_variables** *(list<(string)>)* : A list of strings of the route variables to return in the output geojson. -* **waypoints_path** *(string)* : A filepath to a CSV containing the user defined waypoints with columns including: 'Name','Lat',"Long" -* **source_waypoints** *(list<(string)>)*: The source waypoints to define the routes from. The names in this list must be the same as names within the `waypoints_path` file. If left blank then routes will be determined from all waypoints. -* **end_waypoints** *(list<(string)>)* : The end waypoints to define the routes to. The names in this list must be the same as names within the `waypoints_path` file. If left blank then routes will be determined to all waypoints. -* **vector_names** *(list<(string)>)* : The definition of the horizontal and vertical components of the vector acting on the ship within each CellBox. These names must be within the 'cellboxes'. -* **zero_currents** *(bool)* : For development use only. Removes the effect of currents acting on the ship, setting all current vectors to zero. -* **Variable_Speed** *(bool)* : For development use only. Removes the effect of variable speed acting on the ship, ship speed set to max speed defined by 'Vessel':{'Speed':...}. -* **time_unit** *(string)* : The time unit to output the route path information. Currently only takes 'days', but will support 'hrs' in future releases. -* **early_stopping_criterion** *(bool)* : For development use only. Dijkstra early stopping criterion. For development use only if the full objective_function from each starting waypoint is required. Should be used in conjunction with `save_dijkstra_graphs`. -* **save_dijkstra_graphs** *(bool)* : For development use only. Saves the full dijkstra graph representing the objective_function value across all mesh cells. -* **Smooth Path** - * **max_iteration_number** *(int)* : For development use only. Maximum number of iterations in the path smoothing. For most paths convergence is met 100x earlier than this value. - * **minimum_difference** *(float)* : For development use only. Minimum difference between two path smoothing iterations before convergence is triggered diff --git a/docs/source/sections/Configuration/Route_planning_config.rst b/docs/source/sections/Configuration/Route_planning_config.rst new file mode 100644 index 00000000..3b051f81 --- /dev/null +++ b/docs/source/sections/Configuration/Route_planning_config.rst @@ -0,0 +1,43 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Configuration - Route Planning +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +:: + + { + "Objective_Function": "traveltime", + "Path_Variables": [ + "fuel", + "traveltime" + ], + "WayPoints": "./WayPoints_org.csv", + "Source_Waypoints": ["LongPathStart"], + "End_Waypoints": [], + "Vector Names": ["uC","vC"], + "Zero_Currents": false, + "Variable_Speed": true, + "Time_Unit": "days", + "Early_Stopping_Criterion": true, + "Save_Dijkstra_Graphs": false, + "Smooth Path":{ + "Max Iteration Number":1000, + "Minimum Difference": 1e-3 + } + } + +above is a typical set of configuration parameters used for route planning where the variables are as follows: + +* **objective_function** *(string)* : Defining the objective function to minimise for the construction of the mesh based Dijkstra routes. This variable can either be defined as 'traveltime' or 'fuel' . +* **path_variables** *(list<(string)>)* : A list of strings of the route variables to return in the output geojson. +* **waypoints_path** *(string)* : A filepath to a CSV containing the user defined waypoints with columns including: 'Name','Lat',"Long" +* **source_waypoints** *(list<(string)>)*: The source waypoints to define the routes from. The names in this list must be the same as names within the `waypoints_path` file. If left blank then routes will be determined from all waypoints. +* **end_waypoints** *(list<(string)>)* : The end waypoints to define the routes to. The names in this list must be the same as names within the `waypoints_path` file. If left blank then routes will be determined to all waypoints. +* **vector_names** *(list<(string)>)* : The definition of the horizontal and vertical components of the vector acting on the ship within each CellBox. These names must be within the 'cellboxes'. +* **zero_currents** *(bool)* : For development use only. Removes the effect of currents acting on the ship, setting all current vectors to zero. +* **Variable_Speed** *(bool)* : For development use only. Removes the effect of variable speed acting on the ship, ship speed set to max speed defined by 'Vessel':{'Speed':...}. +* **time_unit** *(string)* : The time unit to output the route path information. Currently only takes 'days', but will support 'hrs' in future releases. +* **early_stopping_criterion** *(bool)* : For development use only. Dijkstra early stopping criterion. For development use only if the full objective_function from each starting waypoint is required. Should be used in conjunction with `save_dijkstra_graphs`. +* **save_dijkstra_graphs** *(bool)* : For development use only. Saves the full dijkstra graph representing the objective_function value across all mesh cells. +* **Smooth Path** + * **max_iteration_number** *(int)* : For development use only. Maximum number of iterations in the path smoothing. For most paths convergence is met 100x earlier than this value. + * **minimum_difference** *(float)* : For development use only. Minimum difference between two path smoothing iterations before convergence is triggered + diff --git a/docs/source/sections/Configuration/Vessel_performance_config.rst b/docs/source/sections/Configuration/Vessel_performance_config.rst new file mode 100644 index 00000000..3e0bdf5e --- /dev/null +++ b/docs/source/sections/Configuration/Vessel_performance_config.rst @@ -0,0 +1,32 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Configuration - Vessel Performance Modeller +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The Vessel configuration file provides all the necessary information about the vessel that will execute +the routes such that performance parameters (e.g. speed or fuel consumption) can be calculated by the +`VesselPerformanceModeller` class. A file of this structure is also used as a command line argument for +the 'add_vehicle' entry point. + +:: + + { + "VesselType": "SDA", + "MaxSpeed": 26.5, + "Unit": "km/hr", + "Beam": 24.0, + "HullType": "slender", + "ForceLimit": 96634.5, + "MaxIceConc": 80, + "MinDepth": 10 + } + +Above are a typical set of configuration parameters used for a vessel where the variables are as follows: + +* **VesselType** *(string)* : The specific vessel class to use for performance modelling. +* **MaxSpeed** *(float)* : The maximum speed of the vessel in open water. +* **Unit** *(string)* : The units of measurement for the speed of the vessel (currently only "km/hr" is supported). +* **Beam** *(float)* : The beam (width) of the ship in metres. +* **HullType** *(string)* : The hull profile of the ship (should be one of either "slender" or "blunt"). +* **ForceLimit** *(float)* : The maximum allowed resistance force, specified in Newtons. +* **MaxIceConc** *(float)* : The maximum Sea Ice Concentration the vessel is able to travel through given as a percentage. +* **MinDepth** *(float)* : The minimum depth of water the vessel is able to travel through in metres. \ No newline at end of file diff --git a/docs/source/sections/Dataloaders/AddingDataloaders.rst b/docs/source/sections/Dataloaders/AddingDataloaders.rst new file mode 100644 index 00000000..d2fa81a8 --- /dev/null +++ b/docs/source/sections/Dataloaders/AddingDataloaders.rst @@ -0,0 +1,97 @@ +.. _adding-dataloaders: + +Adding New Dataloaders +============================ + +Adding to the repository +------------------------ + +Each dataloader is to be implemented as a separate object for the Environmental mesh to interface with. +The general workflow for creating a new dataloader is as follows: + +#. Choose an appropriate dataloader type (see :ref:`Dataloader Types`). +#. Create a new file under :code:`polar_route/DataLoaders/{dataloader-type}` with an appropriate name. +#. Create :code:`import_data()` and (optionally) :code:`add_default_params()` methods. Examples of how to do this are shown on the :ref:`abstractScalar` and :ref:`abstractVector` pages. +#. Add a new entry to the dataloader factory object, within :code:`polar_route/Dataloaders/Factory.py`. Instructions on how to do so are shown in :ref:`dataloader-factory` + +After performing these actions, the dataloader should be ready to go. It is useful for debugging purposes +to create the dataloader object from within :code:`polar_route/Dataloaders/Factory.py` (e.g. within +:code:`if __name__=='__main__':` ) and test its functionality before deploying it. + + + +Adding within iPython Notebooks +------------------------------- + +If you do not wish to modify the repo to add a dataloader, you may add one into the mesh by calling the +:code:`add_dataloader()` method of :ref:`MeshBuilder`. + +An example of how to do this is detailed below. Assuming you're working out of a Jupyter notebook, the +basic steps would be to + +#. Create a dataloader + :: + + # Import the abstract dataloader as the base class + from polar_route.dataloaders.scalar.abstract_scalar import ScalarDataLoader + + # Set up dataloader in the same way as the existing dataloaders + class MyDataLoader(ScalarDataLoader): + # Only user defined function required + def import_data(self, bounds): + # Read in data + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) + # Trim data to boundary + data = self.trim_datapoints(bounds, data=data) + + return data + +#. Create a dictionary of parameters to initialise the dataloader + :: + + # Params formatted same way as dataloaders in config + params = { + 'files': [ + 'PATH_TO_FILE_1', + 'PATH_TO_FILE_2', + ... # Populate with as many files as you need + ], + 'data_name': 'my_data', + 'splitting_conditions':[ + { + 'my_data':{ + 'threshold': 0.5, + 'upper_bound': 0.9, + 'lower_bound': 0.1 + } + } + ] + } + +#. Initialise an Environmental Mesh + :: + + import json + from polar_route import MeshBuilder + + # Config to initialise mesh from + with open('config.json', 'r') as fp: + config = json.load(fp) + + # Build a mesh from the config + mesh_builder = MeshBuilder(config) + env_mesh = mesh_builder.build_environmental_mesh() + +#. Add dataloader to mesh + :: + + # Set up bounds of data in dataloader + from polar_route import Boundary + bounds = Boundary.from_json(config) + + # Add dataloader to mesh builder and regenerate mesh + modified_builder = mesh_builder.add_dataloader(MyDataLoader, params, bounds) + modified_mesh = modified_builder.build_environmental_mesh() + + diff --git a/docs/source/sections/Dataloaders/DataLoaderInterface.rst b/docs/source/sections/Dataloaders/DataLoaderInterface.rst index b389af6d..a45467fd 100644 --- a/docs/source/sections/Dataloaders/DataLoaderInterface.rst +++ b/docs/source/sections/Dataloaders/DataLoaderInterface.rst @@ -9,5 +9,5 @@ only get_hom_condition() and get_value() are needed realistically. Other methods implemented in the :ref:`abstractScalar` and :ref:`abstractVector` dataloaders. -.. automodule:: polar_route.dataloaders.dataLoader_interface +.. automodule:: polar_route.dataloaders.dataloader_interface :members: \ No newline at end of file diff --git a/docs/source/sections/Dataloaders/Factory.rst b/docs/source/sections/Dataloaders/Factory.rst index 3207bae1..51fbe999 100644 --- a/docs/source/sections/Dataloaders/Factory.rst +++ b/docs/source/sections/Dataloaders/Factory.rst @@ -22,14 +22,16 @@ a parameter the dataloader requires. The actions are: #. Import the dataloader #. Add an entry to the :code:`dataloader_requirements` dictionary -#. (OPTIONAL) Add a default value to :code:`set_default_params()` ^^^^^^^ Example ^^^^^^^ In this example, a new scalar dataloader `myScalarDataloader` has been created, and is located at :code:`polar_route/Dataloaders/Scalar/myScalarDataloader.py`. -The only parameter required by this dataloader is a file to read data from:: + +The only parameter required by this dataloader is a file to read data from. 'files' +is passed as a mandatory parameter, as 'file' and 'folder' both get translated into +a list of files, and stored in params under the key 'files':: # Add new import statement for Factory to read from polar_route.Dataloaders.Scalar.myScalarDataloader import myScalarDataloader @@ -42,20 +44,27 @@ The only parameter required by this dataloader is a file to read data from:: ... dataloader_requirements = { ... - # Add new dataloader - 'myscalar': (myScalarDataloader, ['file']) + # Add new dataloaders + 'myscalar': (myScalarDataloader, ['files']) ... ... ... To call this dataloader, add an entry in the :code:`config.json` -file used to generate the mesh:: +file used to generate the mesh. Alternatively, add a folder, or a list of +individual files:: { "loader": "myscalar", "params": { - "file": "PATH_TO_DATA_FILE", + "file": "PATH_TO_DATA_FILE" # For a single file + "folder": "PATH_TO_FOLDER" # For a folder, must have trailing '/' + "files":[ # For a list of individual files + "PATH_TO_FILE_1", + "PATH_TO_FILE_2", + ... + ] } } diff --git a/docs/source/sections/Dataloaders/overview.rst b/docs/source/sections/Dataloaders/overview.rst index 0639b2d7..2fed490c 100644 --- a/docs/source/sections/Dataloaders/overview.rst +++ b/docs/source/sections/Dataloaders/overview.rst @@ -12,9 +12,9 @@ Dataloader Overview ./Factory ./scalar/index ./vector/index + ./AddingDataloaders -################ Section Overview ################ @@ -35,35 +35,17 @@ however this can be whatever the user needs, so long as they are cast into eithe *UML Diagram detailing the dataloader subsystem* - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Implementing New Dataloaders -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Each dataloader is to be implemented as a separate object for the Environmental mesh to interface with. -The general workflow for creating a new dataloader is as follows: - -#. Choose an approriate dataloader type (see `Dataloader Types`_). -#. Create a new file under :code:`polar_route/DataLoaders/{dataloader-type}` with an appropriate name. -#. Create :code:`__init__()` and :code:`import_data()` methods. Examples of how to do this are shown on the :ref:`abstractScalar` and :ref:`abstractVector` pages. -#. Add a new entry to the dataloader factory object, within :code:`polar_route/Dataloaders/Factory.py`. Instructions on how to do so are shown in :ref:`dataloader-factory` - -After performing these actions, the dataloader should be ready to go. It is useful for debugging purposes -to create the dataloader object from within :code:`polar_route/Dataloaders/Factory.py` (e.g. within -:code:`if __name__=='__main__':` ) and test its functionality before deploying it. - -^^^^^^^^^^^^^^^^ Dataloader Types -^^^^^^^^^^^^^^^^ +================ There are two main types of dataloaders that are implemented as abstract classes: Scalar and Vector. **Scalar dataloaders** are to be used on scalar datasets; i.e. variables with a single value per latitude/longitude(/time) coordinate. Examples of this are bathymetry, sea ice concentration, etc... -While the raw datasets may contain more than one variable (a common example being the existance of values and errors in the same file), +While the raw datasets may contain more than one variable (a common example being the existence of values and errors in the same file), these *MUST* be cut down to just coordinates, and a single variable, in order to work correctly with the :ref:`abstractScalar` dataloader. -To read more on how to implement these, follow instructions in `Implementing New Dataloaders`_ and the :ref:`abstract scalar dataloader page`. +To read more on how to implement these, follow instructions in :ref:`Adding Dataloaders page` and the :ref:`abstract scalar dataloader page`. **Vector dataloaders** are to be used on vector datasets; i.e. variables with multi-dimensional values per latitude/longitude(/time) coordinate. Examples of this are ocean currents, @@ -71,26 +53,26 @@ wind, etc... The datasets will have multiple data variables, and should be cut d and optionally 'time'), and the values for each dimensional component of the variable. This will generally be two dimensions, however the :ref:`abstractVector` dataloader should be flexible to n-dimensional data. Rigor should be taken when testing these dataloaders to ensure that the outputs of :code:`get_value()` method of these dataloaders produces outputs that make sense. -To read more on how to implement these, follow instructions in `Implementing New Dataloaders`_ and :ref:`abstract vector dataloader page`. +To read more on how to implement these, follow instructions in :ref:`Adding Dataloaders page` and :ref:`abstract vector dataloader page`. .. **Look-up Table Dataloaders** are to be used on datasets where boundaries define a value. -.. Real data is always prefered to this method, however in the case where there is no data, the LUT +.. Real data is always preferred to this method, however in the case where there is no data, the LUT .. can provide an alternative. Examples of this include ice density, and ice thickness. For these examples, .. weather conditions dictate their values, and these weather conditions can be localised to specific areas. .. To read more on how to implement these, follow instructions in `Implementing New Dataloaders`_ and :ref:`abstract LUT dataloader page`. -^^^^^^^^^^^^^^^^^^^^ + Abstract Dataloaders -^^^^^^^^^^^^^^^^^^^^ +==================== To look at specific abstract dataloaders, use the following links: - :ref:`abstract-scalar-dataloader` - :ref:`abstract-vector-dataloader` These are the templates to be used when implementing new dataloaders into PolarRoute. -They have been split into two seperate categories: Scalar and Vector, detailed in `Dataloader Types`_. +They have been split into two separate categories: Scalar and Vector, detailed in `Dataloader Types`_. The abstract classes generalise the methods used by each dataloader type to produce outputs that the Environmental Mesh can retrieve via the :ref:`dataloader interface`. They are flexible in that they can store and process data as both :code:`xarray.Dataset`'s or @@ -101,8 +83,8 @@ reduce memory consumption. Both abstract base classes define the :code:`__init__()` function to have the following process: #. Read in params from config -#. Add params from :code:`self.add_params()`, defined by user when creating a dataloader +#. Add params from :code:`self.add_default_params()`, defined by user when creating a dataloader #. Downsample data if required and if loaded as :code:`xarray.Dataset` #. Reproject data if required #. Trim datapoints to initial boundary -#. Rename data column name if defined in params +#. Rename data column name if defined in params \ No newline at end of file diff --git a/docs/source/sections/Dataloaders/scalar/implemented/AMSR.rst b/docs/source/sections/Dataloaders/scalar/implemented/AMSR.rst index 58619970..01642a27 100644 --- a/docs/source/sections/Dataloaders/scalar/implemented/AMSR.rst +++ b/docs/source/sections/Dataloaders/scalar/implemented/AMSR.rst @@ -2,12 +2,12 @@ AMSR Dataloader *************** -The AMSR (Advanced Microwave Scanning Radiometer) dataset is a publically +The AMSR (Advanced Microwave Scanning Radiometer) dataset is a publicly available that provides Sea Ice Concentration scans of the earth's oceans. It is produced by researchers at the University of Bremen. The AMSR dataloader is currently the only 'standalone' dataloader, in that it -is defined independantly of the abstract base class. This is due to issues +is defined independently of the abstract base class. This is due to issues with :code:`pandas` calculating mean values differently depending on how the data is loaded. This caused issues with the regression tests passing. This issue will be rectified soon by updating the regression tests. diff --git a/docs/source/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst b/docs/source/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst index c2d1961e..55c86b8d 100644 --- a/docs/source/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst +++ b/docs/source/sections/Dataloaders/scalar/implemented/BSOSEDepth.rst @@ -2,7 +2,7 @@ BSOSE Depth Dataloader ********************** -B-SOSE (Biogeochemical Southern Ocean State Estimate solution) provide a publically available dataset that +B-SOSE (Biogeochemical Southern Ocean State Estimate solution) provide a publicly available dataset that hosts (amongst other products) sea ice concentration (SIC) of the southern ocean. Their SIC product provides a 'depth' value, which this dataloader ingests. BSOSE is an extension of the SOSE project led by Mazloff at the Scripps Institution of Oceanography. diff --git a/docs/source/sections/Dataloaders/scalar/implemented/BSOSESeaIce.rst b/docs/source/sections/Dataloaders/scalar/implemented/BSOSESeaIce.rst index fd51dab1..077c0634 100644 --- a/docs/source/sections/Dataloaders/scalar/implemented/BSOSESeaIce.rst +++ b/docs/source/sections/Dataloaders/scalar/implemented/BSOSESeaIce.rst @@ -2,7 +2,7 @@ BSOSE Sea Ice Dataloader ************************ -B-SOSE (Biogeochemical Southern Ocean State Estimate solution) provide a publically available dataset that +B-SOSE (Biogeochemical Southern Ocean State Estimate solution) provide a publicly available dataset that hosts (amongst other products) sea ice concentration of the southern ocean. It is an extension of the SOSE project led by Mazloff at the Scripps Institution of Oceanography. diff --git a/docs/source/sections/Dataloaders/scalar/implemented/BinaryGRF.rst b/docs/source/sections/Dataloaders/scalar/implemented/BinaryGRF.rst index 009ec3e1..2ac5f044 100644 --- a/docs/source/sections/Dataloaders/scalar/implemented/BinaryGRF.rst +++ b/docs/source/sections/Dataloaders/scalar/implemented/BinaryGRF.rst @@ -23,7 +23,7 @@ only True/False. It is useful for generating land masks. # distribution used to generate GRF "min": 0, # - Minimum value of GRF "max": 1, # - Maximum value of GRF - "binary": True, # - Flag specifiying this GRF is a binary mask + "binary": True, # - Flag specifying this GRF is a binary mask "threshold": 0.5 # - Value around which mask values are set. # Below this, values are set to False # Above this, values are set to True diff --git a/docs/source/sections/Dataloaders/scalar/implemented/GEBCO.rst b/docs/source/sections/Dataloaders/scalar/implemented/GEBCO.rst index 8c31519d..2449b93f 100644 --- a/docs/source/sections/Dataloaders/scalar/implemented/GEBCO.rst +++ b/docs/source/sections/Dataloaders/scalar/implemented/GEBCO.rst @@ -2,7 +2,7 @@ GEBCO Dataloader **************** -The General Bathymetric Chart of the Oceans (GEBCO) is a publically available +The General Bathymetric Chart of the Oceans (GEBCO) is a publicly available bathymetric chart of the Earth's oceans. It is a common resource used by ocean scientists, amongst others. diff --git a/docs/source/sections/Dataloaders/scalar/implemented/IceNet.rst b/docs/source/sections/Dataloaders/scalar/implemented/IceNet.rst index 03fd7cc9..9aed84b2 100644 --- a/docs/source/sections/Dataloaders/scalar/implemented/IceNet.rst +++ b/docs/source/sections/Dataloaders/scalar/implemented/IceNet.rst @@ -12,7 +12,7 @@ at the British Antarctic Survey. From the website: next 6 months of monthly-averaged sea ice concentration maps. Data for IceNet V1 is available from `here `_ -Data for IceNet V2 is not publically available. +Data for IceNet V2 is not publicly available. .. automodule:: polar_route.dataloaders.scalar.icenet :special-members: __init__ diff --git a/docs/source/sections/Dataloaders/scalar/implemented/ScalarGRF.rst b/docs/source/sections/Dataloaders/scalar/implemented/ScalarGRF.rst index 8053c88a..478f1c40 100644 --- a/docs/source/sections/Dataloaders/scalar/implemented/ScalarGRF.rst +++ b/docs/source/sections/Dataloaders/scalar/implemented/ScalarGRF.rst @@ -23,7 +23,7 @@ For vector fields, see the :ref:`Vector GRF page`. "size": 512, # - Number of datapoints per lat/long axis "alpha": 3, # - Power of the power-law momentum # distribution used to generate GRF - "binary": False, # - Flag specifiying this GRF isn't a binary mask + "binary": False, # - Flag specifying this GRF isn't a binary mask "threshold": [0, 1], # - Caps of min/max values to ensure normalising # not skewed by outlier in randomised GRF "min": -10, # - Minimum value of GRF diff --git a/docs/source/sections/Dataloaders/scalar/index.rst b/docs/source/sections/Dataloaders/scalar/index.rst index 9082d9f7..d93966b4 100644 --- a/docs/source/sections/Dataloaders/scalar/index.rst +++ b/docs/source/sections/Dataloaders/scalar/index.rst @@ -37,7 +37,8 @@ Below is a simple example of how to load in a NetCDF file:: def import_data(self, bounds): logging.debug("Importing my data...") # Open Dataset - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Rename coordinate columns to 'lat', 'long', 'time' if they aren't already data = data.rename({'lon':'long'}) @@ -49,12 +50,14 @@ Below is a simple example of how to load in a NetCDF file:: Sometimes there are parameters that are constant for a data source, but are not -constant for all data sources. Default values may be defined either in the -dataloader factory, or within the dataloader itself. Below is an example of -setting default parameters for reprojection of a dataset:: +constant for all data sources. Default values are defined in the dataloader :code:`add_default_params()`. +Below is an example of setting default parameters for reprojection of a dataset:: class MyDataLoader(ScalarDataLoader): - def add_params(self, params): + def add_default_params(self, params): + # Add all the regular default params that scalar dataloaders have + params = super().add_default_params(params) # This line MUST be included + # Define projection of dataset being imported params['in_proj'] = 'EPSG:3412' # Define projection required by output @@ -64,6 +67,8 @@ setting default parameters for reprojection of a dataset:: # Coordinates in dataset that will be reprojected into long/lat params['x_col'] = 'x' # Becomes 'long' params['y_col'] = 'y' # Becomes 'lat' + + return params def import_data(self, bounds): # Open Dataset diff --git a/docs/source/sections/Dataloaders/vector/implemented/ORAS5Current.rst b/docs/source/sections/Dataloaders/vector/implemented/ORAS5Current.rst index ef20319d..c85cd2d5 100644 --- a/docs/source/sections/Dataloaders/vector/implemented/ORAS5Current.rst +++ b/docs/source/sections/Dataloaders/vector/implemented/ORAS5Current.rst @@ -2,7 +2,7 @@ ORAS5 Currents Dataloader ************************* -Ocean Reanalysis System 5 (ORAS5) is a publically available dataset providing +Ocean Reanalysis System 5 (ORAS5) is a publicly available dataset providing estimated values for many different ocean parameters, including ocean currents. From their website: diff --git a/docs/source/sections/Dataloaders/vector/implemented/SOSE.rst b/docs/source/sections/Dataloaders/vector/implemented/SOSE.rst index 6e171323..da065eae 100644 --- a/docs/source/sections/Dataloaders/vector/implemented/SOSE.rst +++ b/docs/source/sections/Dataloaders/vector/implemented/SOSE.rst @@ -2,7 +2,7 @@ SOSE Currents Dataloader ************************ -Southern Ocean State Estimate (SOSE) is a publically available dataset that provides (amongst other products) +Southern Ocean State Estimate (SOSE) is a publicly available dataset that provides (amongst other products) ocean current vectors of the southern ocean. It is a project led by Mazloff at the Scripps Institution of Oceanography. From their website: diff --git a/docs/source/sections/Dataloaders/vector/index.rst b/docs/source/sections/Dataloaders/vector/index.rst index 567c6531..22f15064 100644 --- a/docs/source/sections/Dataloaders/vector/index.rst +++ b/docs/source/sections/Dataloaders/vector/index.rst @@ -28,7 +28,7 @@ Vector Dataloader Examples Creating a vector dataloader is almost identical to creating a :ref:`scalar dataloader`. The key differences are that the `VectorDataLoader` abstract base class must be used, and that -the `data_name` is a comma seperated string of the vector component names. +the `data_name` is a comma separated string of the vector component names. e.g. a dataloader storing a vector with column names :code:`uC` and :code:`vC` will have an attribute :code:`self.data_name = 'uC,vC'` Data must be imported and saved as an xarray.Dataset, or a @@ -61,7 +61,10 @@ be defined either in the dataloader factory, or within the dataloader itself. Below is an example of setting default parameters for reprojection of a dataset:: class MyDataLoader(ScalarDataLoader): - def add_params(self, params): + def add_default_params(self, params): + # Add all the regular default params that scalar dataloaders have + params = super().add_default_params(params) # This line MUST be included + # Define projection of dataset being imported params['in_proj'] = 'EPSG:3412' # Define projection required by output diff --git a/docs/source/sections/Discrete_meshing.rst b/docs/source/sections/Discrete_meshing.rst deleted file mode 100644 index 662324d0..00000000 --- a/docs/source/sections/Discrete_meshing.rst +++ /dev/null @@ -1,99 +0,0 @@ -******************************** -Methods - Mesh Construction -******************************** - -Throughout this section we will outline an overview of the Environment Mesh Construction module, describe the main classes that composes the module and illustrate a use case for the Discrete Meshing of the environment. - -Mesh Construction Overview -############################## -A general overview of the method can be seen below: - -.. figure:: ./Figures/FlowDiagram_MeshGraph.png - :align: center - :width: 700 - - Overview figure of the Discrete Meshing from the multi-data input. - - -Mesh Construction Design -############################## -The below UML diagram describes how the Environment Mesh Construction module is designed. It depicts the classes of the module and how they interact with each other. - -.. figure:: ./Figures/mesh-construct-UML.drawio.png - :align: center - :width: 1000 - - - - -Mesh Construction Use case -################################### -This sequence diagram illustrates a use case for the Discrete Meshing of the environment, where the module's client starts by initializing the MeshBuilder with a certain mesh configuration (see Input-Configuration section for more details about the configuration format) then calls build_environment_mesh method. - -.. figure:: ./Figures/mesh-build-sequence-diagram.drawio.png - :align: center - :width: 1000 - - - -The following diagram depicts the sequence of events that take place inside build_environment_mesh method into details - -.. figure:: ./Figures/build-env-mesh.drawio.png - :align: center - :width: 1000 - - -Classes -############## -This section describes the main classes of the Mesh Construction module in details - -CellBox -*************** -.. automodule:: polar_route.mesh_generation.cellbox - -.. autoclass:: polar_route.mesh_generation.cellbox.CellBox - :special-members: __init__ - :members: set_data_source, should_split, split, set_parent, aggregate - -MetaData -*********** - -.. automodule:: polar_route.mesh_generation.metadata - -.. autoclass:: polar_route.mesh_generation.metadata.Metadata - :special-members: __init__ - - -MeshBuilder -************ - -.. automodule:: polar_route.mesh_generation.mesh_builder - -.. autoclass:: polar_route.mesh_generation.mesh_builder.MeshBuilder - :special-members: __init__ - :members: build_environmental_mesh , split_and_replace, split_to_depth - -AggregatedCellBox -****************** -.. automodule:: polar_route.mesh_generation.aggregated_cellBox - -.. autoclass:: polar_route.mesh_generation.aggregated_cellBox.AggregatedCellBox - :special-members: __init__ - :members: contains_point, to_json - -EnvironmentMesh -**************** -.. automodule:: polar_route.mesh_generation.environment_mesh - -.. autoclass:: polar_route.mesh_generation.environment_mesh.EnvironmentMesh - :special-members: __init__ - :members: load_from_json, update_cellbox , to_json, save - - -NeighbourGraph -*************** - -.. automodule:: polar_route.mesh_generation.neighbour_graph - -.. autoclass:: polar_route.mesh_generation.neighbour_graph.NeighbourGraph - :members: initialise_neighbour_graph, get_neighbour_case, update_neighbours \ No newline at end of file diff --git a/docs/source/sections/Examples.rst b/docs/source/sections/Examples.rst index 8b2c9d0a..752e6ea4 100644 --- a/docs/source/sections/Examples.rst +++ b/docs/source/sections/Examples.rst @@ -1,7 +1,7 @@ ************************ Examples of running code ************************ -Throughout this section we will discuss a series of examples that cna be run by the user either from the Command-Ling or within python/ipython notebooks. All these examples and more can be found at the Google Colab `Link `_. +Throughout this section we will discuss a series of examples that can be run by the user either from the Command-Line or within python/ipython notebooks. All these examples and more can be found at the Google Colab `Link `_. ============================================================= Example 1 - Antarctica Processing all stages of route planner @@ -17,6 +17,6 @@ Example 2 - Dijkstra vs smooth paths ============================================================ -Example 2 - Variations of Vehichle Properties on Route Paths +Example 2 - Variations of Vehicle Properties on Route Paths ============================================================ ...to be added shortly ... \ No newline at end of file diff --git a/docs/source/sections/Figures/splitting_conditions.png b/docs/source/sections/Figures/splitting_conditions.png new file mode 100644 index 00000000..0814927c Binary files /dev/null and b/docs/source/sections/Figures/splitting_conditions.png differ diff --git a/docs/source/sections/Installation.rst b/docs/source/sections/Installation.rst index 434e2346..b1f20ca1 100644 --- a/docs/source/sections/Installation.rst +++ b/docs/source/sections/Installation.rst @@ -6,38 +6,76 @@ In this section we will outline the installation steps for installing the softwa The first stage is installing a version of Python 3.9, if you don't have a working version. We suggest installing a working Anaconda distribution from https://www.anaconda.com/products/distribution#macos following the instructions on that page. -Windows -####### -The PolarRoute software requires GDAL files to be installed. The PolarRoute software can be installed on Windows by running one of the two following commands. +Installing PolarRoute +##################### + +The PolarRoute software can be installed on Windows/Linux/MacOS by running one of the two following commands. Github: :: - - pip install pipwin - pipwin install gdal - pipwin install fiona + + git clone https://https://github.com/antarctica/PolarRoute.git python setup.py install Pip: :: - pip install pipwin + pip install polar-route + + +Installing GDAL +############### + +The PolarRoute software has GDAL as an optional requirement. It is only used when exporting TIFF images, +so if this is not useful to you, we would recommend steering clear. It is not trivial and is a common source of problems. +With that said, below are instructions for various operating systems. + +Windows +******* + +.. note:: + We assume a version of Windows 10 or higher, with a working version of Python 3.9 including pip installed. + We recommend installing PolarRoute into a virtual environment. + +Windows: + +:: + + pip install pipwin # pipwin is a package that allows for easy installation of windows binaries pipwin install gdal pipwin install fiona - pip install polar-route Linux/MacOS -########### +*********** -The PolarRoute software can be installed on Linux/MacOS by running one of the two following commands. +Ubuntu/Debian: -Github: :: + + sudo add-apt-repository ppa:ubuntugis/ppa + sudo apt-get update + sudo apt-get install gdal-bin libgdal-dev + export CPLUS_INCLUDE_PATH=/usr/include/gdal + export C_INCLUDE_PATH=/usr/include/gdal + pip install GDAL==$(gdal-config --version) - python setup.py install -Pip: +Fedora: + :: - pip install polar-route + sudo dnf update + sudo dnf install gdal gdal-devel + export CPLUS_INCLUDE_PATH=/usr/include/gdal + export C_INCLUDE_PATH=/usr/include/gdal + pip install GDAL==$(gdal-config --version) + + +MacOS (with HomeBrew): + +:: + + brew install gdal --HEAD + brew install gdal + pip install GDAL==$(gdal-config --version) \ No newline at end of file diff --git a/docs/source/sections/Mesh_Construction/Mesh_construction_classes.rst b/docs/source/sections/Mesh_Construction/Mesh_construction_classes.rst new file mode 100644 index 00000000..c084fff0 --- /dev/null +++ b/docs/source/sections/Mesh_Construction/Mesh_construction_classes.rst @@ -0,0 +1,84 @@ +############################# +Mesh Construction - Classes +############################# + +This section describes the main classes of the Mesh Construction module in detail. +For an overview of the abstractions behind the Mesh Construction module, see the +:ref:`Mesh Construction - Overview` section of the documentation. + +MeshBuilder +************ +The MeshBuilder object is the main class of the Mesh Construction module. It is used to build the +EnvironmentalMesh object from a collection geospatial data. Features of the created EnvironmentalMesh +as be set using a configuration file passed to the MeshBuilder object. For more information on the format +of the configuration file, see the :ref:`configuration - mesh construction` section of the documentation. + +.. automodule:: polar_route.mesh_generation.mesh_builder + +.. autoclass:: polar_route.mesh_generation.mesh_builder.MeshBuilder + :special-members: __init__ + :members: build_environmental_mesh , split_and_replace, split_to_depth, add_dataloader + +EnvironmentMesh +***************** +The EnvironmentMesh object is a collection of geospatial boundaries containing an aggregated representation +of the data contained within the boundaries (AggregatedCellBox objects). The EnvironmentMesh object is +created by the MeshBuilder object, though the object is mutable and can be updated after construction. + +.. automodule:: polar_route.mesh_generation.environment_mesh + +.. autoclass:: polar_route.mesh_generation.environment_mesh.EnvironmentMesh + :special-members: __init__ + :members: load_from_json, update_cellbox , to_json, to_geojson, to_tif ,save + +NeighbourGraph +*************** +The NeighbourGraph object is used to store the connectivity information between the cells of the EnvironmentMesh. +The NeighbourGraph object is created by the MeshBuilder object and is encoded into the EnvironmentalMesh. + +.. automodule:: polar_route.mesh_generation.neighbour_graph + +.. autoclass:: polar_route.mesh_generation.neighbour_graph.NeighbourGraph + :members: initialise_neighbour_graph, get_neighbour_case, update_neighbours + +CellBox +*************** +The CellBox object is used to store the data contained within a geospatial boundary in the MeshBuilder. +The CellBox object is created by the MeshBuilder object and transformed into an AggregatedCellBox object +when the MeshBuilder returns the EnvironmentalMesh object. + +.. automodule:: polar_route.mesh_generation.cellbox + +.. autoclass:: polar_route.mesh_generation.cellbox.CellBox + :special-members: __init__ + :members: set_data_source, should_split, split, set_parent, aggregate + +MetaData +*********** +The Metadata object is used to store the metadata associated with a CellBox object within the MeshBuilder. This includes +associated DataLoaders, the depth of the CellBox within the MeshBuilder, and the parent CellBox of the CellBox among others. + +.. automodule:: polar_route.mesh_generation.metadata + +.. autoclass:: polar_route.mesh_generation.metadata.Metadata + :special-members: __init__ + +AggregatedCellBox +****************** +An aggregated representation of the data contained within a geospatial boundary. The AggregatedCellBox object is created +by the CellBox object when the MeshBuilder returns the EnvironmentalMesh. + +.. automodule:: polar_route.mesh_generation.aggregated_cellbox + +.. autoclass:: polar_route.mesh_generation.aggregated_cellbox.AggregatedCellBox + :special-members: __init__ + :members: contains_point, to_json + + + + + + + + + diff --git a/docs/source/sections/Mesh_Construction/Mesh_construction_overview.rst b/docs/source/sections/Mesh_Construction/Mesh_construction_overview.rst new file mode 100644 index 00000000..d6a4bd82 --- /dev/null +++ b/docs/source/sections/Mesh_Construction/Mesh_construction_overview.rst @@ -0,0 +1,59 @@ +.. _mesh_construction_overview: + +******************************** +Methods - Mesh Construction +******************************** + +Throughout this section we will outline an overview of the Environment Mesh Construction +module, describe the main classes that composes the module and illustrate a use case for +the Discrete Meshing of the environment. + +Mesh Construction - Overview +############################## +A general overview of the method can be seen below: + +.. figure:: ../Figures/FlowDiagram_MeshGraph.png + :align: center + :width: 700 + + Overview figure of the Discrete Meshing from the multi-data input. + + +Mesh Construction Design +############################## +The below UML diagram describes how the Environment Mesh Construction module is designed. +It depicts the classes of the module and how they interact with each other. + +.. figure:: ../Figures/mesh-construct-UML.drawio.png + :align: center + :width: 1000 + +Mesh Construction Use case +################################### +This sequence diagram illustrates a use case for the Discrete Meshing of the environment, +where the module's client starts by initializing the MeshBuilder with a certain mesh +configuration (see Input-Configuration section for more details about the configuration format) +then calls build_environment_mesh method. + +.. figure:: ../Figures/mesh-build-sequence-diagram.drawio.png + :align: center + :width: 1000 + +The following diagram depicts the sequence of events that take place inside build_environment_mesh +method into details + +.. figure:: ../Figures/build-env-mesh.drawio.png + :align: center + :width: 1000 + +For a more in-depth explanation of the mesh construction methods, please refer to the :ref:`Mesh Construction - Classes` +section. + + +Mesh Construction - Additional +################################ +.. toctree:: + :maxdepth: 1 + + ./Mesh_construction_classes + ./Mesh_validation diff --git a/docs/source/sections/Mesh_Construction/Mesh_validation.rst b/docs/source/sections/Mesh_Construction/Mesh_validation.rst new file mode 100644 index 00000000..288d9752 --- /dev/null +++ b/docs/source/sections/Mesh_Construction/Mesh_validation.rst @@ -0,0 +1,19 @@ +######################## +Mesh Validation +######################## + +TODO - add description + +==================== +Mesh Validator +==================== +.. automodule:: polar_route.mesh_validation.mesh_validator + :special-members: __init__ + :members: + +==================== +Sampler +==================== +.. automodule:: polar_route.mesh_validation.sampler + :special-members: __init__ + :members: \ No newline at end of file diff --git a/docs/source/sections/Outputs.rst b/docs/source/sections/Outputs.rst index 75a332ae..4b3ba9f3 100644 --- a/docs/source/sections/Outputs.rst +++ b/docs/source/sections/Outputs.rst @@ -4,9 +4,9 @@ Outputs - Data Types ******************** -################# -Mesh construction -################# +###################### +The Mesh.json file +###################### The first stage in the route planning pipeline is constructing a discrete mesh of the environment in which the route planner can operate. Once this @@ -26,7 +26,7 @@ of mesh construction and json object generation are as follows: .. note:: Examples and a description of the configuration files can be found in - the :ref:`Configuration` section of this document. + the :ref:`configuration - mesh construction` section of this document. The json object outputted by the Mesh consists of 3 sections: **config**, @@ -137,12 +137,13 @@ where each of the values represent the following: :align: center :width: 700 -################# -Vehicle specifics -################# +########################### +The Vessel_mesh.json file +########################### Once a discrete mesh environment is contracted, it is then passed to the vessel performance modeller -which applies transformations which are specific to a given vehicle. +which applies transformations which are specific to a given vehicle. These vehicle specific values +are then encoded into the mesh json object and passed down-stream to the route planner. :: @@ -162,7 +163,8 @@ which applies transformations which are specific to a given vehicle. .. note:: To make use of the full range of vessel performance transformations, a Mesh should be constructed with the following attributes: - + + * elevation (available via data_loaders: *gebco*, *bsose_depth*) * SIC (available via data_loaders: *amsr*, *bsose_sic*, *baltic_sic*, *icenet*, *modis*) * thickness (available via data_loaders: *thickness*) * density (available via data_loaders: *density*) @@ -189,17 +191,20 @@ have a set of new attributes as follows: * **relative wind angle** *(list)* : The angle of the apparent wind acting on the vessel. -############## -Route planning -############## +######################### +The Route.json file +######################### -During the route planning stage of the pipline information on the routes and the waypoints used are saved as outputs to the processing stage. Descriptions of the structure of the two outputs are given below: +During the route planning stage of the pipline information on the routes and the waypoints used are saved +as outputs to the processing stage. Descriptions of the structure of the two outputs are given below: ========= waypoints ========= -An entry in the json including all the information of the waypoints defined by the user from the `waypoints_path` file. It may be the case that ot all waypoints would have been used in the route construction, but all waypoints are returned to this entry. The structure of the entry follows: +An entry in the json including all the information of the waypoints defined by the user from the `waypoints_path` +file. It may be the case that ot all waypoints would have been used in the route construction, but all waypoints +are returned to this entry. The structure of the entry follows: :: @@ -287,7 +292,7 @@ where the output takes a GeoJSON standard form (more infor given at https://geoj * **** : A list of the features representing each of the separate routes constructed * **geometry** : The positioning of the route locations * **coordinates** : A list of the Lat,Long position of all the route points - * **** : A list of metainformation about the route + * **** : A list of meta-information about the route * **from** : Starting waypoint of route * **to** : Ending waypoint of route * **traveltime** : A list of float values representing the cumulative travel time along the route. This entry was originally defined as a output in the configuration file by the `path_variables` definition. diff --git a/docs/source/sections/Route_calculation.rst b/docs/source/sections/Route_calculation.rst new file mode 100644 index 00000000..9715af55 --- /dev/null +++ b/docs/source/sections/Route_calculation.rst @@ -0,0 +1,17 @@ +*************************** +Methods - Route Calculation +*************************** + +Route Calculation Overview +########################### + +This section describes the code used for the evaluation of user-defined routes through a mesh constructed by the methods +described in previous sections. This mesh should include all the relevant vessel performance parameters needed to +calculate the fuel and time cost of the route. + + +Route Calculation +################# + +.. automodule:: polar_route.route_calc + :members: diff --git a/docs/source/sections/Route_optimisation.rst b/docs/source/sections/Route_optimisation.rst index dfa26953..d9f4f1ee 100644 --- a/docs/source/sections/Route_optimisation.rst +++ b/docs/source/sections/Route_optimisation.rst @@ -5,26 +5,32 @@ Methods - Route Planner Route Optimisation Overview ########################### -In this section we will outline the construction of the route paths using the Mesh construction corrected to include the objective functions define and generated in the earlier section. +In this section we outline the code used to generate optimal routes through a mesh constructed by the methods described +in previous sections. This mesh should include the vessel performance parameters with respect to which objective +functions can be defined for optimisation. +Route Optimisation Modules +########################## Route Planner -############# +************* .. automodule:: polar_route.route_planner :members: + :private-members: -.. Crossing Points -.. ############## +Crossing Points +*************** -.. .. automodule:: polar_route.crossing -.. :members: - -.. .. autoclass:: polar_route.crossing.NewtonianDistance -.. :members: +.. automodule:: polar_route.crossing + :members: + :private-members: -.. .. autoclass:: polar_route.crossing.NewtonianCurve -.. :members: +Crossing Point Smoothing +************************ +.. automodule:: polar_route.crossing_smoothing + :members: + :private-members: diff --git a/docs/source/sections/ipython_notebooks.rst b/docs/source/sections/ipython_notebooks.rst new file mode 100644 index 00000000..78940eb2 --- /dev/null +++ b/docs/source/sections/ipython_notebooks.rst @@ -0,0 +1,99 @@ +############################### +Python & iPython Notebooks +############################### + +Route planning may also be done using a python terminal. This is case, the CLI is not required but the steps required for route planning +follow the same format - create a digital environment; simulated a vessel against it; optimise a route plan through the digital environment. + + +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Creating the digital environment. +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +A configuration file is needed to initialise the **`Mesh`** object which forms the digital environment. This configuration file +is of the same format used in the :ref:`create_mesh` CLI entry-point, and may either be loaded from a *json* file or constructed +within the python terminal. + +Loading configuration from *json* file: +:: + + import json + with open('config.json', 'r') as f: + config = json.load(f) + + +The digital environment **`Mesh`** object can then be initialised. This mesh object will be constructed using parameters in it +configuration file. This mesh object can be manipulated further, such as increasing its resolution through further +splitting, adding additional data sources or altering is configuration parameters using functions listed in +the :ref:`Methods - Mesh Construction` section of the documentation. +:: + + from polar_route.mesh import Mesh + cg = Mesh(config) + +The digital environment **`Mesh`** object can then be cast to a json object and saved to a file. This *mesh.json* file can then +be used by the CLI entry-point :ref:`add_vehicle`, or the json object can be passed to the **`VesselPerformance`** object in a python +terminal. +:: + + mesh = cg.to_json() + with open('mesh.json') as f: + json.dumps(mesh) + + +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Simulating a Vessel in a Digital Environment +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Once a digital environment **`Mesh`** object has been created, how a vessel interacts with it may be simulated. The **`VesselPerformance`** +object requires a digital environment in *json* format and vessel specific configuration parameters, also in *json* format. These may either +be loaded from a file, or created within the python terminal. + +Loading mesh and vessel from *json* files: +:: + + import json + # Loading digital environment from file + with open('mesh.json', 'r') as f: + mesh = json.load(f) + + # Loading vessel configuration parameters from file + with open('vessel.json', 'r') as f: + vessel = json.load(f) + +The **`VesselPerformance`** object can then be initialised. This will simulate the performance of the vessel and encodes this information +into the digital environment. +:: + + from polar_route.vessel_performance import VesselPerformance + vp = VesselPerformance(mesh, vessel) + +The **`VesselPerformance`** object can then be cast to a json object and saved to a file. This *vessel_mesh.json* file can then +be used by the CLI entry-point :ref:`optimise_routes`, or the json object can be passed to the **`RoutePlanner`** object in a python +terminal. +:: + + vessel_mesh = vp.to_json() + with open('vessel_mesh.json') as f: + json.dumps(vessel_mesh) + +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Route Optimisation +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Now that the vessel dependent environmental mesh is defined, and represented in the `vessel_performance` object, we can +construct routes, with parameters defined by the user in the configuration file. Waypoints are passed as an input +file path, `waypoints.csv`, discussed more in the Inputs section of the manual pages. The route construction is done +in two stages: construction of the meshed dijkstra optimal routes, `.compute_routes()`; and, the smoothing of the +dijkstra routes to further optimise the solution and reduce mesh dependencies, `.compute_smooth_routes()`. +During `.compute_routes()` the paths are appended to the object as an entry `paths`, which are replaced by the +smoothed paths after running `.compute_smooth_routes()`. An additional entry `waypoints` is generated to give the +waypoints information used in route construction. For further info about the structure of the outputs of the +paths please see the Outputs section of the manual. + +:: + + from polar_route.route_planner import RoutePlanner + rp = RoutePlanner(vessel_mesh, route_config , waypoints) + rp.compute_routes() + rp.compute_smoothed_routes() + info = rp.to_json() \ No newline at end of file diff --git a/docs/source/sections/running.rst b/docs/source/sections/running.rst deleted file mode 100644 index 314f74c8..00000000 --- a/docs/source/sections/running.rst +++ /dev/null @@ -1,242 +0,0 @@ -********************** -Runnning Codebase -********************** - -The codebase current can be run from either pre-defined python functions or via a command line interface. Outlined below is how to run the separate sections of the software package using either of the two methods. - - -Command Line Interface -############################### - -The PolarRoute package provides 3 CLI entry points, intended to be used in succession to plan a route through a digital enviroment. - -.. figure:: ./Figures/PolarRoute_CLI.png - :align: center - :width: 700 - - *Overview figure of the Command Line Interface entry points of PolarRoute* - -^^^^^^^^^^^^^^^^^^ -create_mesh -^^^^^^^^^^^^^^^^^^ -The *create_mesh* entry point builds a digital enviroment file from a collection of source data, which can then be used -by the vessel performance modeller and route planner. - -:: - - create_mesh - -positional arguments: - -:: - - config : A configuration file detailing how to build the digital enviroment. JSON parsable - -The format of the required ** file can be found in the :ref:`Input - Configuration` section of the documentation. - -optional arguments: - -:: - - -v (verbose logging) - -o (set output location for mesh) - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -add_vehicle -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -The *add_vehicle* command allows vehicle specific simulations to be performed on the digital enviroment. This vehicle specific -information is then encoded into the digital enviroment file. - -:: - - add_vehicle - -positional arguments: - -:: - - vessel : A configuration file detailing the vessel to be simulated in the digital enviroment. - mesh : A digital enviroment file. - -The format for the required ** file can be found in the :ref:`Input - Configuration` section of the documentation. -The required ** file can be created using the :ref:`create_mesh` command shown above. - -optional arguments are - -:: - - -v (verbose logging) - -o (set output location for mesh) - -^^^^^^^^^^^^^^^^^^ -optimise_routes -^^^^^^^^^^^^^^^^^^ -Optimal routes through a mesh can be calculated using the command: - -:: - - optimise_routes - -positional parameters: - -:: - - vessel_mesh : A digital enviroment file with added vessel specific simulations. - route_config : A configuration file detailing optimisation parameters to be used when route planning. - waypoints: A .csv file containing waypoints to be travelled between. - - -The format for the required ** file can be found in the :ref:`Input - Configuration` section of the documentation. -The required ** file can be generated using the :ref:`add_vehicle` command shown above. -The format for the requried ** file is as follows: - -As table: - -+------------------+---------------+---------------+---------+---------------+ -| Name | Lat | Long | Source | Destination | -+==================+===============+===============+=========+===============+ -| Halley | -75.26722 | -27.21694 | | X | -+------------------+---------------+---------------+---------+---------------+ -| Rothera | -68.3892 | -95.2436 | | | -+------------------+---------------+---------------+---------+---------------+ -| South Georiga | -54.87916667 | -37.26416667 | X | | -+------------------+---------------+---------------+---------+---------------+ -| Falklands | -55.63472222 | -64.88 | | | -+------------------+---------------+---------------+---------+---------------+ -| Elephant Island | -60.54722222 | -55.18138889 | | | -+------------------+---------------+---------------+---------+---------------+ - - -As .csv: - -:: - - Name,Lat,Long,Source,Destination - Halley,-75.26722,-27.21694,,X - Rothera,-68.3892,-95.2436,, - South Georiga,-54.87916667,-37.26416667,X, - Falklands,-55.63472222,-64.88,, - Elephant Island,-60.54722222,-55.18138889,, - -Additional waypoints may be added by extending the '' file. Which waypoints are navigated between is determined by -added a **X** in either the *Source* or *Destination* columns. When processed, the route planner will create routes from all -waypoints marked with an **X** in the source column to all waypoints marked with a **X** in the *destination* column. - -optional arguments are - -:: - - -v (verbose logging) - -o (set output location for mesh) - -p (output only the caculated path, not the entire mesh - -d (output Dijkstra path as well as smoothed path) - - -^^^^^^^^^^^^^^^^^^ -Plotting -^^^^^^^^^^^^^^^^^^ -Meshes produced at any stage in the route planning process can be visualised using the GeoPlot library found at `Link ` - - - -Python & iPython Notebooks -############################### - -Route planning may also be done using a python terminal. This is case, the CLI is not required but the steps required for route planning -follow the same format - create a digital enviroment; simulated a vessel against it; optimise a route plan through the digital enviroment. - - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Creating the digital enviroment. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -A configuration file is needed to initialise the **`Mesh`** object which forms the digital enviroment. This configuration file -is of the same format used in the :ref:`create_mesh` CLI entry-point, and may either be loaded from a *json* file or constructed -within the python terminal. - -Loading configuration from *json* file: -:: - - import json - with open('config.json', 'r') as f: - config = json.load(f) - - -The digital enviroment **`Mesh`** object can then be initialised. This mesh object will be constructed using parameters in it -configuration file. This mesh object can be manipulated further, such as increasing its resolution through further -splitting, adding additional data sources or altering is configuration parameters using functions listed in -the :ref:`Methods - Mesh Construction` section of the documentation. -:: - - from polar_route.mesh import Mesh - cg = Mesh(config) - -The digital enviroment **`Mesh`** object can then be cast to a json object and saved to a file. This *mesh.json* file can then -be used by the CLI entry-point :ref:`add_vehicle`, or the json object can be passed to the **`VesselPerformance`** object in a python -terminal. -:: - - mesh = cg.to_json() - with open('mesh.json') as f: - json.dumps(mesh) - - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Simulating a Vessel in a Digital Enviroment -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Once a digital enviroment **`Mesh`** object has been created, how a vessel interacts with it may be simulated. The **`VesselPerformance`** -object requires a digital enviroment in *json* format and vessel specific configuration parameters, also in *json* format. These may either -be loaded from a file, or created within the python terminal. - -Loading mesh and vessel from *json* files: -:: - - import json - # Loading digital enviroment from file - with open('mesh.json', 'r') as f: - mesh = json.load(f) - - # Loading vessel configuration parameters from file - with open('vessel.json', 'r') as f: - vessel = json.load(f) - -The **`VesselPerformance`** object can then be initialised. This will simulate the performance of the vessel and encodes this information -into the digital enviroment. -:: - - from polar_route.vessel_performance import VesselPerformance - vp = VesselPerformance(mesh, vessel) - -The **`VesselPerformance`** object can then be cast to a json object and saved to a file. This *vessel_mesh.json* file can then -be used by the CLI entry-point :ref:`optimise_routes`, or the json object can be passed to the **`RoutePlanner`** object in a python -terminal. -:: - - vessel_mesh = vp.to_json() - with open('vessel_mesh.json') as f: - json.dumps(vessel_mesh) - -^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Route Optimisation -^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Now that the vessel dependent environmental mesh is defined, and represented in the `vessel_performance` object, we can -construct routes, with parameters defined by the user in the configuration file. Waypoints are passed as an input -file path, `waypoints.csv`, discussed more in the Inputs section of the manual pages. The route construction is done -in two stages: construction of the meshed dijkstra optimal routes, `.compute_routes()`; and, the smoothing of the -dijkstra routes to further optimise the solution and reduce mesh dependencies, `.compute_smooth_routes()`. -During `.compute_routes()` the paths are appended to the object as an entry `paths`, which are replaced by the -smoothed paths after running `.compute_smooth_routes()`. An additional entry `waypoints` is generated to give the -waypoints information used in route construction. For further info about the structure of the outputs of the -paths please see the Outputs section of the manual. - -:: - - from polar_route.route_planner import RoutePlanner - rp = RoutePlanner(vessel_mesh, route_config , waypoints) - rp.compute_routes() - rp.compute_smoothed_routes() - info = rp.to_json() - - - diff --git a/examples/README.md b/examples/README.md new file mode 100644 index 00000000..a6270500 --- /dev/null +++ b/examples/README.md @@ -0,0 +1,72 @@ +# Examples +This directory contains example configs that can be used with PolarRoute. Please make sure you have PolarRoute properly installed before attempting to run these examples. +You will also need GeoPlot installed to run the `plot_mesh` command, however it is not necessary if all you need is the ability to generate meshes. See `https://github.com/antarctica/geoplot` for more instructions. + +To run PolarRoute, choose one config out of each directory and execute commands in this order: + +1. create_mesh {environment_config} +2. add_vehicle {vessel_config} {create_mesh_output} +3. optimise_routes {route_config} {add_vehicle_output} {waypoints} +4. (optional) plot_mesh {any_output} + +{environment_config}, {vessel_config}, {route_config}, and {waypoints} can be any of the JSON's in `environment_config/`, `vessel_config/`, `route_config/`, and `./` respectively. + +{create_mesh_output} is typically `create_mesh.output.json` + +{add_vehicle_output} is typically `add_vehicle.output.json` + +Both of these can be manually set by using the `-o` flag when running `create_mesh` and `add_vehicle` respectively. + +{any_output} can be the output after any of the 3 prior stages. `plot_mesh` will output a HTML showing the mesh after any stage, which can be useful for debugging purposes. + +## Environment Config +Contains 3 examples: +1. grf_example.json: + - Generates fake data to mesh using Gaussian Random Fields (GRF) + - Contains example of all possible config parameters for GRF dataloader + +2. grf_minimal_example.json + - Generates fake data to mesh using GRF's + - Contains bare minimum information required to be able to generate mesh from GRF dataloader + +3. real_example.json + - Relies on real data, see documentation for sources of each dataset + - Contains example of typical config parameters used during development + - File / folder paths are relative + - Visit the following links to download files for this dataloader: + - GEBCO: https://download.gebco.net/ + - AMSR: https://seaice.uni-bremen.de/data-archive/ + - SOSE: http://sose.ucsd.edu/sose_stateestimation_data_05to10.html + +## Vessel Config +Contains 1 example: +1. SDA.config.json + - Parameters used to simulate the SDA research vessel. + +## Route Config +Contains 2 examples: +1. fuel.config.json + - For generating fuel optimised routes +2. traveltime.config.json + - For generating travel-time optimised routes + +## Waypoints +Contains 2 examples: +1. waypoints_real.csv + - Contains points of interest around the world that the SDA may travel to. +2. waypoints_example.csv + - Minimal working example that will work with the GRF meshes + +## Common Errors +The most common source of errors is a malformed config. To ensure that this does not happen, here are some easy checks you can perform: +- If you are running an example that relies on real data: + - make sure you have the needed data files, if not you can get them from the SAN + - update the datasources inside the environment_config to point to the correct file path +- Does the time range specified in your environment_config exclude all the data from one of the dataloaders? +- Do all of your waypoints lay outside of your initial mesh boundary? +- Are your waypoints inaccessible because of land/SIC? + +## Known bugs +These are issues that may occur that are outside of your control +- Do any of your waypoints lay exactly on one of the cellbox boundaries? +- Do you not have a dataloader for `SIC` or `uC,vC`? (excluding one of these will crash `optimise_routes`) diff --git a/examples/environment_config/grf_example.config.json b/examples/environment_config/grf_example.config.json new file mode 100644 index 00000000..88d127c1 --- /dev/null +++ b/examples/environment_config/grf_example.config.json @@ -0,0 +1,202 @@ +{ + "Mesh_info": { + "Region": { + "latMin": 0, + "latMax": 10, + "longMin": 0, + "longMax": 10, + "startTime": "TODAY - 1", + "endTime": "TODAY + 1", + "cellWidth": 10, + "cellHeight": 10 + }, + "Data_sources": [ + { + "loader": "scalar_grf", + "params": { + "data_name": "SIC", + "min": 0, + "max": 100, + "seed": 16, + "offset": 5, + "splitting_conditions": [ + { + "SIC": { + "threshold": 75, + "upper_bound": 1.0, + "lower_bound": 0.0 + } + } + ], + "dataloader_name": "scalar_grf", + "downsample_factors": [ + 1, + 1 + ], + "aggregate_type": "MEAN", + "min_dp": 5, + "in_proj": "EPSG:4326", + "out_proj": "EPSG:4326", + "x_col": "lat", + "y_col": "long", + "size": 512, + "alpha": 3, + "binary": false, + "threshold": [ + 0, + 1 + ], + "multiplier": 1 + } + }, + { + "loader": "scalar_grf", + "params": { + "data_name": "elevation", + "min": -100, + "max": 50, + "seed": 30, + "splitting_conditions": [ + { + "elevation": { + "threshold": -10, + "upper_bound": 1.0, + "lower_bound": 0.0 + } + } + ], + "dataloader_name": "scalar_grf", + "downsample_factors": [ + 1, + 1 + ], + "aggregate_type": "MEAN", + "min_dp": 5, + "in_proj": "EPSG:4326", + "out_proj": "EPSG:4326", + "x_col": "lat", + "y_col": "long", + "size": 512, + "alpha": 3, + "binary": false, + "threshold": [ + 0, + 1 + ], + "multiplier": 1, + "offset": 0 + } + }, + { + "loader": "scalar_grf", + "params": { + "data_name": "thickness", + "min": 0.65, + "max": 1.4, + "seed": 44, + "dataloader_name": "scalar_grf", + "downsample_factors": [ + 1, + 1 + ], + "aggregate_type": "MEAN", + "min_dp": 5, + "in_proj": "EPSG:4326", + "out_proj": "EPSG:4326", + "x_col": "lat", + "y_col": "long", + "size": 512, + "alpha": 3, + "binary": false, + "threshold": [ + 0, + 1 + ], + "multiplier": 1, + "offset": 0 + } + }, + { + "loader": "scalar_grf", + "params": { + "data_name": "density", + "min": 850, + "max": 1000, + "seed": 40, + "dataloader_name": "scalar_grf", + "downsample_factors": [ + 1, + 1 + ], + "aggregate_type": "MEAN", + "min_dp": 5, + "in_proj": "EPSG:4326", + "out_proj": "EPSG:4326", + "x_col": "lat", + "y_col": "long", + "size": 512, + "alpha": 3, + "binary": false, + "threshold": [ + 0, + 1 + ], + "multiplier": 1, + "offset": 0 + } + }, + { + "loader": "vector_grf", + "params": { + "data_name": "uC,vC", + "min": 0, + "max": 1, + "seed": 21, + "dataloader_name": "vector_grf", + "downsample_factors": [ + 1, + 1 + ], + "aggregate_type": "MEAN", + "min_dp": 5, + "in_proj": "EPSG:4326", + "out_proj": "EPSG:4326", + "x_col": "lat", + "y_col": "long", + "size": 512, + "alpha": 3, + "vec_x": "uC", + "vec_y": "vC" + } + }, + { + "loader": "vector_grf", + "params": { + "data_name": "u10,v10", + "min": 0, + "max": 1, + "seed": 21, + "dataloader_name": "vector_grf", + "downsample_factors": [ + 1, + 1 + ], + "aggregate_type": "MEAN", + "min_dp": 5, + "in_proj": "EPSG:4326", + "out_proj": "EPSG:4326", + "x_col": "lat", + "y_col": "long", + "size": 512, + "alpha": 3, + "vec_x": "uC", + "vec_y": "vC" + } + } + ], + "splitting": { + "split_depth": 6, + "minimum_datapoints": 5 + } + } +} diff --git a/examples/environment_config/grf_minimal_example.config.json b/examples/environment_config/grf_minimal_example.config.json new file mode 100644 index 00000000..253cac72 --- /dev/null +++ b/examples/environment_config/grf_minimal_example.config.json @@ -0,0 +1,40 @@ +{ + "Mesh_info": { + "Region": { + "latMin": 0, + "latMax": 10, + "longMin": 0, + "longMax": 10, + "startTime": "TODAY - 1", + "endTime": "TODAY + 1", + "cellWidth": 5, + "cellHeight": 5 + }, + "Data_sources": [ + { + "loader": "scalar_grf", + "params": { + "data_name": "elevation", + "binary": false + } + }, + { + "loader": "scalar_grf", + "params": { + "data_name": "SIC", + "binary": false + } + }, + { + "loader": "vector_grf", + "params": { + "data_name": "uC,vC" + } + } + ], + "splitting": { + "split_depth": 4, + "minimum_datapoints": 5 + } + } +} diff --git a/examples/environment_config/real_example.config.json b/examples/environment_config/real_example.config.json new file mode 100644 index 00000000..0c654f69 --- /dev/null +++ b/examples/environment_config/real_example.config.json @@ -0,0 +1,107 @@ +{ + "Mesh_info": { + "Region": { + "latMin": -80, + "latMax": -40, + "longMin": -130, + "longMax": 0, + "startTime": "TODAY - 4", + "endTime": "TODAY - 1", + "cellWidth": 5, + "cellHeight": 2.5 + }, + "Data_sources": [ + { + "loader": "GEBCO", + "params": { + "downsample_factors": [ + 5, + 5 + ], + "data_name": "elevation", + "file" : "datastore/bathymetry/gebco/gebco_global.nc", + "value_fill_types": "parent", + "aggregate_type": "MAX", + "splitting_conditions": [ + { + "elevation": { + "threshold": -10, + "upper_bound": 1, + "lower_bound": 0 + } + } + ] + } + }, + { + "loader": "amsr", + "params": { + "folder": "datastore/sic/amsr2/south/", + "hemisphere": "south", + "value_fill_types": "parent", + "data_name": "SIC", + "splitting_conditions": [ + { + "SIC": { + "threshold": 1, + "upper_bound": 1, + "lower_bound": 0 + } + }, + { + "SIC": { + "threshold": 35, + "upper_bound": 1, + "lower_bound": 0 + } + }, + { + "SIC": { + "threshold": 80, + "upper_bound": 1, + "lower_bound": 0 + } + } + ], + "aggregate_type": "MEAN", + "min_dp": 5, + "in_proj": "EPSG:3412", + "out_proj": "EPSG:4326", + "x_col": "x", + "y_col": "y" + } + }, + { + "loader": "SOSE", + "params": { + "value_fill_types": "parent", + "data_name": "uC,vC", + "aggregate_type": "MEAN", + "file": "datastore/currents/sose/SOSE_surface_velocity_6yearMean_2005-2010.nc" + } + }, + { + "loader": "thickness", + "params": { + "data_name": "thickness", + "value_fill_types": "parent", + "aggregate_type": "MEAN", + "min_dp": 5 + } + }, + { + "loader": "density", + "params": { + "data_name": "density", + "value_fill_types": "parent", + "aggregate_type": "MEAN" + } + } + ], + "splitting": { + "split_depth": 4, + "minimum_datapoints": 5 + } + } +} + diff --git a/examples/route_config/fuel.config.json b/examples/route_config/fuel.config.json new file mode 100644 index 00000000..81eee1c0 --- /dev/null +++ b/examples/route_config/fuel.config.json @@ -0,0 +1,20 @@ +{ + "objective_function": "fuel", + "path_variables": [ + "fuel", + "traveltime" + ], + "vector_names": [ + "uC", + "vC" + ], + "zero_currents": false, + "variable_speed": true, + "time_unit": "days", + "early_stopping_criterion": true, + "save_dijkstra_graphs": true, + "smooth_path": { + "max_iteration_number": 1000, + "minimum_difference": 0.0005 + } +} \ No newline at end of file diff --git a/examples/route_config/traveltime.config.json b/examples/route_config/traveltime.config.json new file mode 100644 index 00000000..3f6e54bc --- /dev/null +++ b/examples/route_config/traveltime.config.json @@ -0,0 +1,20 @@ +{ + "objective_function": "traveltime", + "path_variables": [ + "fuel", + "traveltime" + ], + "vector_names": [ + "uC", + "vC" + ], + "zero_currents": false, + "variable_speed": true, + "time_unit": "days", + "early_stopping_criterion": true, + "save_dijkstra_graphs": true, + "smooth_path": { + "max_iteration_number": 1000, + "minimum_difference": 0.0005 + } +} diff --git a/examples/vessel_config/SDA.config.json b/examples/vessel_config/SDA.config.json new file mode 100644 index 00000000..3539c10a --- /dev/null +++ b/examples/vessel_config/SDA.config.json @@ -0,0 +1,10 @@ +{ + "VesselType": "SDA", + "MaxSpeed": 26.5, + "Unit": "km/hr", + "Beam": 24.0, + "HullType": "slender", + "ForceLimit": 96634.5, + "MaxIceConc": 80, + "MinDepth": -10 +} diff --git a/examples/waypoints_example.csv b/examples/waypoints_example.csv new file mode 100644 index 00000000..5a566c08 --- /dev/null +++ b/examples/waypoints_example.csv @@ -0,0 +1,3 @@ +Name,Lat,Long,Source,Destination +Start,1.1,1.1,X, +End,8.9,8.9,,X diff --git a/examples/waypoints_real.csv b/examples/waypoints_real.csv new file mode 100644 index 00000000..a69dd524 --- /dev/null +++ b/examples/waypoints_real.csv @@ -0,0 +1,9 @@ +Name,Lat,Long,Source,Destination +Ny-Ålesund,78.917,11.933,,X +Rothera,-67.569,-68.125,,X +Halley,-75.568,-25.508,,X +Bird Island,-54.0,-38.05,,X +King Edward Point,-54.283,-36.5,,X +Signy,-60.717,-45.6,,X +Harwick,51.948,1.256,,X +SDA,56.02557705454917,-3.4472619339242967,X, diff --git a/polar_route/__init__.py b/polar_route/__init__.py index d326d5fe..5872e860 100644 --- a/polar_route/__init__.py +++ b/polar_route/__init__.py @@ -1,13 +1,19 @@ -__version__ = "0.1.0" +__version__ = "0.2.19" __description__ = "PolarRoute: Long-distance maritime polar route planning taking into account complex changing environmental conditions" __license__ = "MIT" __author__ = "Jonathan Smith, Samuel Hall, George Coombs, Harrison Abbot, Ayat Fekry, James Byrne, Michael Thorne, Maria Fox" -__email__ = "jonsmi@bas.ac.uk" -__copyright__ = "2022, BAS AI Lab" +__email__ = "polarroute@bas.ac.uk" +__copyright__ = "2022-2023, BAS AI Lab" -from polar_route.mesh_generation.mesh_builder import MeshBuilder as MeshBuilder -from polar_route.dataloaders.factory import DataLoaderFactory as DataLoaderFactory +# Wrapped in try-except so that setup.py can import polar_route without crashing due to dependency errors +try: + from polar_route.mesh_generation.mesh_builder import MeshBuilder as MeshBuilder + from polar_route.dataloaders.factory import DataLoaderFactory as DataLoaderFactory -from polar_route.vessel_performance.vessel_performance_modeller import VesselPerformanceModeller as VesselPerformanceModeller + from polar_route.vessel_performance.vessel_performance_modeller import VesselPerformanceModeller as VesselPerformanceModeller -from polar_route.route_planner import RoutePlanner as RoutePlanner + from polar_route.route_planner import RoutePlanner as RoutePlanner + from polar_route.mesh_generation.boundary import Boundary as Boundary + +except ModuleNotFoundError as err: + print(f'{err}\n Is PolarRoute installed correctly?') \ No newline at end of file diff --git a/polar_route/cli.py b/polar_route/cli.py index 991299e8..0f386cbc 100644 --- a/polar_route/cli.py +++ b/polar_route/cli.py @@ -4,11 +4,12 @@ import logging from polar_route import __version__ as version -from polar_route.utils import setup_logging, timed_call +from polar_route.utils import setup_logging, timed_call, convert_decimal_days from polar_route.mesh_generation.mesh_builder import MeshBuilder from polar_route.vessel_performance.vessel_performance_modeller import VesselPerformanceModeller from polar_route.route_planner import RoutePlanner from polar_route.mesh_generation.environment_mesh import EnvironmentMesh +from polar_route.route_calc import route_calc @setup_logging @@ -17,7 +18,8 @@ def get_args( config_arg: bool = True, mesh_arg: bool = False, waypoints_arg: bool = False, - format_arg: bool = False): + format_arg: bool = False, + format_conf: bool = False): """ Adds required command line arguments to all CLI entry points. @@ -69,11 +71,44 @@ def get_args( if format_arg: ap.add_argument("format", help = "Export format to transform a mesh into. Supported \ - formats are JSON, GEOJSON") + formats are JSON, GEOJSON, Tif") + ap.add_argument( "-f", "--format_conf", + default = None, + help = "File location of Export to Tif configuration parameters") + return ap.parse_args() +@timed_call +def rebuild_mesh_cli(): + """ + CLI entry point for rebuilding the mesh based on its encoded config files. + """ + + default_output = "rebuild_mesh.output.json" + args = get_args(default_output, mesh_arg=True, config_arg=False) + logging.info("{} {}".format(inspect.stack()[0][3][:-4], version)) + + mesh_json = json.load(args.mesh) + config = mesh_json['config'] + + # rebuilding mesh... + rebuilt_mesh = MeshBuilder(config).build_environmental_mesh() + rebuilt_mesh_json = rebuilt_mesh.to_json() + + if 'vessel_info' in config.keys(): + vessel_config = config['vessel_info'] + vp = VesselPerformanceModeller(rebuilt_mesh_json, vessel_config) + vp.model_accessibility() + vp.model_performance() + rebuilt_mesh_json = vp.to_json() + + logging.info("Saving mesh to {}".format(args.output)) + + json.dump(rebuilt_mesh_json, open(args.output, "w"), indent=4) + + @timed_call def create_mesh_cli(): @@ -85,14 +120,14 @@ def create_mesh_cli(): args = get_args(default_output) logging.info("{} {}".format(inspect.stack()[0][3][:-4], version)) - config = json.load(args.config)['config'] + config = json.load(args.config) # Discrete Meshing cg = MeshBuilder(config).build_environmental_mesh() logging.info("Saving mesh to {}".format(args.output)) info = cg.to_json() - json.dump(info, open(args.output, "w")) + json.dump(info, open(args.output, "w"), indent=4) @timed_call @@ -114,7 +149,7 @@ def add_vehicle_cli(): logging.info("Saving mesh to {}".format(args.output)) info = vp.to_json() - json.dump(info, open(args.output, "w")) + json.dump(info, open(args.output, "w"), indent=4) @timed_call @@ -133,40 +168,79 @@ def optimise_routes_cli(): logging.info("outputting full mesh to {}".format(args.output)) rp = RoutePlanner(args.mesh.name, args.config.name, args.waypoints.name) + rp.compute_routes() info_dijkstra = rp.to_json() + + if args.dijkstra: + if args.path_only: + json.dump(info_dijkstra['paths'], open('{}_dijkstra.json'.format('.'.join(args.output.split('.')[:-1])), 'w'), indent=4) + else: + json.dump(info_dijkstra, open('{}_dijkstra.json'.format('.'.join(args.output.split('.')[:-1])), 'w'), indent=4) + rp.compute_smoothed_routes() info = rp.to_json() if args.path_only: - if args.dijkstra: - json.dump(info_dijkstra['paths'], open('{}_dijkstra.json'.format('.'.join(args.output.split('.')[:-1])), 'w')) - json.dump(info['paths'], open(args.output, 'w')) + json.dump(info['paths'], open(args.output, 'w'), indent=4) else: - if args.dijkstra: - json.dump(info_dijkstra, open('{}_dijkstra.json'.format('.'.join(args.output.split('.')[:-1])), 'w')) - json.dump(info, open(args.output, "w")) + json.dump(info, open(args.output, "w"), indent=4) @timed_call def export_mesh_cli(): """ CLI entry point for exporting a mesh to standard formats. + Currently supported formats are JSON, GEOJSON, TIF """ - print("test tit") - args = get_args("export_mesh.output.json", - config_arg = False, mesh_arg = True, format_arg = True) - - print(f" Mesh arg = {args.mesh}, format arg = {args.format}") + # Default, used only by the Mesh Builder and PolarRoute + args = get_args("mesh.json", + config_arg = False, + mesh_arg = True, + format_arg = True) + + if args.format.upper() == "GEOJSON": + args = get_args("mesh_geo.json", + config_arg = False, + mesh_arg = True, + format_arg = True) + + elif args.format.upper() == "TIF": + args = get_args("mesh.tif", + config_arg = False, + mesh_arg = True, + format_arg = True) logging.info("{} {}".format(inspect.stack()[0][3][:-4], version)) - - mesh = json.load(args.mesh) - env_mesh = EnvironmentMesh.load_from_json(mesh) logging.info(f"exporting mesh to {args.output} in format {args.format}") - env_mesh.save(args.output, args.format) + + env_mesh.save(args.output, args.format , args.format_conf) + +@timed_call +def calculate_route_cli(): + """ + CLI entry point to calculate the cost of a manually defined route within an existing mesh. + """ + args = get_args("calculated_route.json", + config_arg = False, mesh_arg = True, waypoints_arg = True) + logging.info("{} {}".format(inspect.stack()[0][3][:-4], version)) + + logging.info(f"Calculating the cost of route {args.waypoints.name} from mesh {args.mesh.name}") + + calc_route = route_calc(args.waypoints.name, args.mesh.name) + + if calc_route is not None: + max_time = convert_decimal_days(calc_route["features"][0]["properties"]["traveltime"][-1]) + max_fuel = round(calc_route["features"][0]["properties"]["fuel"][-1],2) + + logging.info(f"Calculated route has travel time: {max_time} and fuel cost: {max_fuel} tons") + + logging.info(f"Saving calculated route to {args.output}") + with open(args.output, "w") as f: + json.dump(calc_route, f, indent=4) + diff --git a/polar_route/config_validation/__init__.py b/polar_route/config_validation/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/polar_route/config_validation/config_validator.py b/polar_route/config_validation/config_validator.py new file mode 100644 index 00000000..458f44f5 --- /dev/null +++ b/polar_route/config_validation/config_validator.py @@ -0,0 +1,197 @@ +import json +import jsonschema +import logging +import datetime +import re +import pandas as pd + +from polar_route.config_validation.mesh_schema import mesh_schema +from polar_route.config_validation.vessel_schema import vessel_schema +from polar_route.config_validation.route_schema import route_schema +from polar_route.config_validation.waypoints_schema import waypoints_columns + +def flexi_json_input(config): + """ + Allows flexible inputs. If a string is parsed, then assume it's a file path + and read in as a json. If a dict is parsed, then assume it's already a + valid loaded json, and return it as is + + Args: + config (str or dict): Input to translate into a dict. + + Raises: + TypeError: If input is neither a str nor a dict, then wrong input type + + Returns: + dict: Dictionary read from JSON + """ + if type(config) is str: + # If str, assume filename + with open(config, 'r') as fp: + config_json = json.load(fp) + elif type(config) is dict: + # If dict, assume it's the config + config_json = config + else: + # Otherwise, can't deal with it + raise TypeError(f"Expected 'str' or 'dict', instead got '{type(config)}'") + + return config_json + +def validate_mesh_config(config): + """ + Validates a mesh config + + Args: + config (str or dict): + Mesh config to be validated. + If type 'str', tries to read in as a filename and open file as json + If type 'dict', assumes it's already read in from a json file + + Raises: + TypeError: Incorrect config parsed in. Must be 'str' or 'dict' + FileNotFoundError: Could not read in file if 'str' parsed + ValidationError: Malformed mesh config + """ + + def assert_valid_time(time_str): + """ + Checks if the time strings in the config are correctly formatted + + Args: + time_str (str): + String from config. Expects 'YYYY-MM-DD' or 'TODAY +- n' + Raises: + ValueError: String not in a valid date format + """ + correctly_formatted = False + # If relative time is parsed + if re.match('TODAY[+,-]\d+', time_str): + correctly_formatted = True + # Otherwise check if date is parsed correctly + else: + try: + # Checks if formatted as YYYY-MM-DD with a valid date + datetime.date.fromisoformat(time_str) + # If so, then it's correct + correctly_formatted = True + except ValueError: + # Otherwise, keep correctly_formatted = False + pass + # If it failed to pass + if not correctly_formatted: + raise ValueError(f'{time_str} is not a valid date format!') + + def assert_valid_cellsize(bound_min, bound_max, cell_size): + """ + Ensures that the initial cellbox size can evenly divide the initial + boundary. + + Args: + bound_min (float): Minimum value of boundary in one axis + bound_max (float): Maximum value of boundary in the same axis + cell_size (float): Initial cellbox size in the same axis + """ + assert((bound_max - bound_min)%cell_size == 0), \ + f"{bound_max}-{bound_min}={bound_max-bound_min} is not evenly "+\ + f"divided by {cell_size}" + + + # Deals with flexible input + config_json = flexi_json_input(config) + # Validate against the schema to check syntax is correct + jsonschema.validate(instance=config_json, schema=mesh_schema) + + # Check that the dates in the Region are valid + assert_valid_time(config['Mesh_info']['Region']['startTime']) + assert_valid_time(config['Mesh_info']['Region']['endTime']) + + # Check that cellbox width and height evenly divide boundary + assert_valid_cellsize(config['Mesh_info']['Region']['latMin'], + config['Mesh_info']['Region']['latMax'], + config['Mesh_info']['Region']['cellHeight']) + assert_valid_cellsize(config['Mesh_info']['Region']['longMin'], + config['Mesh_info']['Region']['longMax'], + config['Mesh_info']['Region']['cellHeight']) + +def validate_vessel_config(config): + """ + Validates a vessel config + + Args: + config (str or dict): + Vessel config to be validated. + If type 'str', tries to read in as a filename and open file as json + If type 'dict', assumes it's already read in from a json file + + Raises: + TypeError: Incorrect config parsed in. Must be 'str' or 'dict' + FileNotFoundError: Could not read in file if 'str' parsed + ValidationError: Malformed vessel config + + """ + # Deals with flexible input + config_json = flexi_json_input(config) + # Validate against schema + jsonschema.validate(instance=config_json, schema=vessel_schema) + +def validate_route_config(config): + """ + Validates a route config + + Args: + config (str or dict): + route config to be validated. + If type 'str', tries to read in as a filename and open file as json + If type 'dict', assumes it's already read in from a json file + + Raises: + TypeError: Incorrect config parsed in. Must be 'str' or 'dict' + FileNotFoundError: Could not read in file if 'str' parsed + ValidationError: Malformed route config + + """ + # Deals with flexible input + config_json = flexi_json_input(config) + # Validate against schema + jsonschema.validate(instance=config_json, schema=route_schema) + +def validate_waypoints(waypoints): + """_summary_ + + Args: + waypoints (str or pd.DataFrame): _description_ + + Raises: + TypeError: Incorrect config parsed in. Must be 'str' or 'pd.DataFrame' + FileNotFoundError: Could not read in file if 'str' parsed + AssertionError: Malformed waypoints config + """ + + if type(waypoints) is str: + # If str, assume filename + waypoints_df = pd.read_csv(waypoints).reset_index() + elif type(waypoints) is pd.core.frame.DataFrame: + # If dataframe, assume it's the loaded waypoints + waypoints_df = waypoints.reset_index() + else: + # Otherwise, can't deal with it + raise TypeError( + f"Expected 'str' or 'dict', instead got '{type(waypoints)}'" + ) + # Assert that all the required columns exist + assert(all(col in waypoints_df.columns for col in waypoints_columns)), \ + f'Expected the following columns to exist: {waypoints_columns}' + + # Assert that at least one source and destination waypoint selected + assert('X' in set(waypoints_df['Source'])), \ + 'No source waypoint defined!' + assert('X' in set(waypoints_df['Destination'])), \ + 'No destination waypoint defined!' + + # Assert only numeric values given as coordinates + assert(pd.to_numeric(waypoints_df['Lat'], errors='coerce').notnull().all()), \ + 'Non-numeric value in "Lat" column of waypoints' + assert(pd.to_numeric(waypoints_df['Long'], errors='coerce').notnull().all()), \ + 'Non-numeric value in "Long" column of waypoints' + diff --git a/polar_route/config_validation/mesh_schema.py b/polar_route/config_validation/mesh_schema.py new file mode 100644 index 00000000..4d68b494 --- /dev/null +++ b/polar_route/config_validation/mesh_schema.py @@ -0,0 +1,69 @@ +region_schema = { + "type": "object", + "required": ["latMin", "latMax", + "longMin", "longMax", + "startTime", "endTime", + "cellWidth", "cellHeight"], + "additionalProperties": False, + "properties":{ + "latMin": {"type": "number"}, + "latMax": {"type": "number"}, + "longMin": {"type": "number"}, + "longMax": {"type": "number"}, + "startTime": {"type": "string"}, + "endTime": {"type": "string"}, + "cellWidth": {"type": "number"}, + "cellHeight": {"type": "number"} + } +} + +dataloader_schema = { + "type": "object", + "required": ["loader", "params"], + "additionalProperties": False, + "properties":{ + "loader": {"type": "string"}, + "params": {"type": "object"} + + } +} + +splitting_schema = { + "type": "object", + "required": ["split_depth", "minimum_datapoints"], + "additionalProperties": False, + "properties":{ + "split_depth": {"type": "integer"}, + "minimum_datapoints": {"type": "integer"} + } +} + +mesh_schema = { + "type": "object", + "required": ["Mesh_info"], + "additionalProperties": False, + "properties":{ + "Mesh_info": { + "type": "object", + "required": ["Region", "Data_sources", "splitting"], + "additionalProperties": False, + "properties":{ + "Region": { + "$ref": "#/region_schema" + }, + "Data_sources": { + "type": "array", + "items": { + "$ref": "#/dataloader_schema" + }, + }, + "splitting": { + "$ref": "#/splitting_schema" + } + } + } + }, + "region_schema": region_schema, + "dataloader_schema": dataloader_schema, + "splitting_schema": splitting_schema +} \ No newline at end of file diff --git a/polar_route/config_validation/route_schema.py b/polar_route/config_validation/route_schema.py new file mode 100644 index 00000000..f66f54a4 --- /dev/null +++ b/polar_route/config_validation/route_schema.py @@ -0,0 +1,31 @@ +route_schema = { + "type": "object", + "required": [ + "objective_function", + "path_variables", + "vector_names", + "variable_speed", + "time_unit", + "early_stopping_criterion", + "zero_currents" + ], + "additionalProperties": True, + "properties": { + "objective_function": {"type": "string"}, + "path_variables": {"type": "array", + "items":{"type": "string"}}, + "vector_names": {"type": "array", + "items":{"type":"string"}, + "minItems": 2, + "maxItems": 2}, + "variable_speed": {"type":"boolean"}, + "time_unit": {"type": "string", + "enum": ["days","hours","seconds"]}, + "early_stopping_criterion":{"type": "boolean"}, + "zero_currents": {"type": "boolean"}, + "smoothing_blocked_sic": {"type": "number"}, + "smoothing_max_iterations": {"type": "integer"}, + "smoothing_merge_separation": {"type": "number"}, + "smoothing_converged_sep": {"type": "number"} + } +} \ No newline at end of file diff --git a/polar_route/config_validation/vessel_schema.py b/polar_route/config_validation/vessel_schema.py new file mode 100644 index 00000000..dcfcb2f1 --- /dev/null +++ b/polar_route/config_validation/vessel_schema.py @@ -0,0 +1,14 @@ +vessel_schema = { + "type": "object", + "required": ["VesselType", "MaxSpeed", + "Unit", "MaxIceConc", + "MinDepth"], + "additionalProperties": True, + "properties": { + "VesselType": {"type": "string"}, + "MaxSpeed": {"type": "number", "minimum": 0}, + "Unit": {"type": "string"}, + "MaxIceConc": {"type": "number", "minimum": 0, "maximum": 100}, + "MinDepth": {"type": "number", "minimum": 0} + } +} diff --git a/polar_route/config_validation/waypoints_schema.py b/polar_route/config_validation/waypoints_schema.py new file mode 100644 index 00000000..7ccb8445 --- /dev/null +++ b/polar_route/config_validation/waypoints_schema.py @@ -0,0 +1 @@ +waypoints_columns = ['Name','Lat','Long','Source','Destination'] \ No newline at end of file diff --git a/polar_route/crossing.py b/polar_route/crossing.py index 88409310..316b7f0d 100644 --- a/polar_route/crossing.py +++ b/polar_route/crossing.py @@ -1,33 +1,20 @@ """ The python package `crossing` implement the optimisation for the crossing point for the unsmoothed and smoothed path - construction. The package is separated into two classes `NewtonianDistance` and `NewtonianCurve`. - In the section below we will go through, stage by stage, how the crossing point is determined and the methods - used within the classes. + construction. The package is separated into two classes `NewtonianDistance` and `NewtonianCurve`. + In the section below we will go through, stage by stage, how the crossing point is determined and the methods + used within the classes. """ import copy import pandas as pd import numpy as np import pyproj +import logging np.seterr(divide='ignore', invalid='ignore') class NewtonianDistance: - """The summary line for a class docstring should fit on one line. - If the class has public attributes, they may be documented here - in an ``Attributes`` section and follow the same formatting as a - function's ``Args`` section. Alternatively, attributes may be documented - inline with the attribute's declaration (see __init__ method below). - - Properties created with the ``@property`` decorator should be documented - in the property's getter method. - - Attributes: - attr1 (str): Description of `attr1`. - attr2 (:obj:`int`, optional): Description of `attr2`. - - """ def __init__(self,source_graph=None,neighbour_graph=None, case=None,unit_shipspeed='km/hr',unit_time='days', zerocurrents=True,debugging=False,maxiter=1000,optimizer_tol=1e-3): @@ -85,33 +72,54 @@ def __init__(self,source_graph=None,neighbour_graph=None, def _newton_optimisation(self, f, x, a, Y, u1, v1, u2, v2, s1, s2): ''' - FILL - ''' + Newton Optimisation applied to the crossing point, to update its crossing position in-line + with environmental parameters of the starting and end cell box. + + All inputs and outputs are given in SI units (m,m/s,s) + + Inputs: + f (func) - + x (float) - Start cell perpendicular distance from cell centre to crossing boundary + a (float) - End cell perpendicular distance from cell centre to crossing boundary + Y (float) - Parallel distance, to crossing boundary, between start cell and end cell centres + u1 (float) - Start Cell perpendicular to crossing boundary forcing component + v1 (float) - Start Cell parallel to crossing boundary forcing component + u2 (float) - End Cell perpendicular to crossing boundary forcing component + v2 (float) - End Cell parallel to crossing boundary forcing component + s1 (float) - Start Cell max speed + s1 (float) - End Cell max speed + + Returns: + y0 (float) - updated crossing point represent as parallel distance along crossing boundary from start cell centre to crossing point + t (tuple, (float,float)) - Traveltime of the two segments from start cell centre to crossing to end cell centre. + ''' y0 = (Y*x)/(x+a) - if self.debugging: - print('---Initial y={:.2f}'.format(y0)) improving = True - iterartion_num = 0 + iteration_num = 0 while improving: F,dF,X1,X2,t1,t2 = f(y0,x,a,Y,u1,v1,u2,v2,s1,s2) if F==np.inf: return np.nan,np.inf - - if self.debugging: - print('---Iteration {}: y={:.2f}; F={:.5f}; dF={:.2f}'\ - .format(iterartion_num,y0,F,dF)) y0 = y0 - (F/dF) improving = abs((F/dF)/(X1*X2)) > self.optimizer_tol - iterartion_num+=1 - if iterartion_num>1000: - raise Exception('Newton not able to converge') - - + iteration_num+=1 + # Assume convergence impossible after 1000 iterations and exit + if iteration_num>1000: + # Set crossing point to nan and travel times to infinity + y0 = np.nan + t1 = -1 + t2 = -1 return y0,self._unit_time(np.array([t1,t2])) def _unit_speed(self,val): ''' - FILL + Applying unit speed for an input type. + + Input: + Val (float) - Input speed in m/s + Output: + Val (float) - Output speed in unit type unit_shipspeed + ''' if not isinstance(val,type(None)): if self.unit_shipspeed == 'km/hr': @@ -124,7 +132,13 @@ def _unit_speed(self,val): def _unit_time(self,val): ''' - FILL + Applying unit time for an input type. + + Input: + Val (float) - Input time in s + Output: + Val (float) - Output time in unit type unit_time + ''' if self.unit_time == 'days': val = val/(60*60*24.) @@ -139,7 +153,28 @@ def _unit_time(self,val): def _F(self,y,x,a,Y,u1,v1,u2,v2,s1,s2): ''' - FILL + Determining Newton Function and differential of newton function from adjacent cell pair information + + Args: + y (float) - Crossing point as a parallel distance along crossing boundary from start cell centre to crossing point + x (float) - Start cell perpendicular distance from cell centre to crossing boundary + a (float) - End cell perpendicular distance from cell centre to crossing boundary + Y (float) - Parallel distance, to crossing boundary, between start cell and end cell centres + u1 (float) - Start Cell perpendicular to crossing boundary forcing component + v1 (float) - Start Cell parallel to crossing boundary forcing component + u2 (float) - End Cell perpendicular to crossing boundary forcing component + v2 (float) - End Cell parallel to crossing boundary forcing component + s1 (float) - Start Cell max speed + s1 (float) - End Cell max speed + + Outputs: + F (float) - Newton function value + dF (float) - Differential of Newton function value + X1 (float) - Characteristic X distance in start cell + X2 (float) - Characteristic X distance in end cell + t1 (float) - Traveltime leg from start cell centre to crossing point + t1 (float) - Traveltime leg from crossing point to end cell centre + ''' C1 = s1**2 - u1**2 - v1**2 C2 = s2**2 - u2**2 - v2**2 @@ -182,6 +217,15 @@ def _F(self,y,x,a,Y,u1,v1,u2,v2,s1,s2): def _traveltime_in_cell(self,xdist,ydist,U,V,S): ''' Determines the travel-time within cell between two points + + Args: + xdist (float) - Longitudinal distance in cell in m + xdist (float) - Latitudinal distance in cell in m + U (float) - Longitudinal component of forcing vector (m/s) + V (float) - Latitudinal component of forcing vector (m/s) + S (float) - Max speed in cell (m/s) + + ''' dist = np.sqrt(xdist**2 + ydist**2) cval = np.sqrt(U**2 + V**2) @@ -193,11 +237,9 @@ def _traveltime_in_cell(self,xdist,ydist,U,V,S): if diffsqrs == 0.0: if dotprod == 0.0: return np.inf - #raise Exception(' ') else: if ((dist**2)/(2*dotprod)) <0: return np.inf - #raise Exception(' ') else: traveltime = dist * dist / (2 * dotprod) return traveltime @@ -205,13 +247,16 @@ def _traveltime_in_cell(self,xdist,ydist,U,V,S): traveltime = (np.sqrt(dotprod**2 + (dist**2)*diffsqrs) - dotprod)/diffsqrs if traveltime < 0: traveltime = np.inf - # print(traveltime,xdist,ydist,U,V,S) - # raise Exception('Newton Corner Cases returning Zero Traveltime - ISSUE') return traveltime def waypoint_correction(self,Wp,Cp): ''' - FILL + Determines the traveltime between two points within a given cell + Args: + Wp (tuple): Start Waypoint location (long,lat) + Cp (tuple): End Waypoint location (long,lat) + Returns: + traveltime (float) - Traveltime between the two points within cell in unit_time ''' x = (Cp[0]-Wp[0])*self.m_long*np.cos(Wp[1]*(np.pi/180)) y = (Cp[1]-Wp[1])*self.m_lat @@ -224,7 +269,15 @@ def waypoint_correction(self,Wp,Cp): def _longitude(self): ''' - FILL + Applying an inplace longitude correction to the crossing point between the start and end cell boxes + + All outputs are given in SI units (m,m/s,s) + + Outputs: + Traveltime (tuple,[float,float]) - Traveltime legs from start cell centre to crossing to end cell centre + CrossPoints (tuple,[float,float]) - Crossing Point in (long,lat) + CellPoints (tuple,[int,int]) - Start and End cell indices + ''' if self.case==2: @@ -269,7 +322,7 @@ def _longitude(self): CellPoints = [n_cx,n_cy] - # Checking Crossing Ponint possible + # Checking Crossing Point possible # Defining the min and max of the start and end cells smin = s_cy-s_dcy smax = s_cy+s_dcy @@ -278,16 +331,22 @@ def _longitude(self): vmin = np.max([smin,emin]) vmax = np.min([smax,emax]) if (CrossPoints [1] < vmin) or (CrossPoints[1] > vmax): - TravelTime = [np.inf,np.inf] - CrossPoints = [np.nan,np.nan] - CellPoints = [np.nan,np.nan] + CrossPoints = (CrossPoints[0],np.clip(CrossPoints[1],vmin,vmax)) return TravelTime,CrossPoints,CellPoints def _latitude(self): ''' - FILL + Applying an inplace latitude correction to the crossing point between the start and end cell boxes + + All outputs are given in SI units (m,m/s,s) + + Outputs: + Traveltime (tuple,[float,float]) - Traveltime legs from start cell centre to crossing to end cell centre + CrossPoints (tuple,[float,float]) - Crossing Point in (long,lat) + CellPoints (tuple,[int,int]) - Start and End cell indices + ''' if self.case==4: @@ -335,7 +394,7 @@ def _latitude(self): CellPoints = [n_cx,n_cy] - # Checking Crossing Ponint possible + # Checking Crossing Point possible # Defining the min and max of the start and end cells smin = s_cx-s_dcx smax = s_cx+s_dcx @@ -344,23 +403,22 @@ def _latitude(self): vmin = np.max([smin,emin]) vmax = np.min([smax,emax]) if (CrossPoints [0] < vmin) or (CrossPoints[0] > vmax): - TravelTime = [np.inf,np.inf] - CrossPoints = [np.nan,np.nan] - CellPoints = [np.nan,np.nan] - - # if TravelTime[0] < 0 or TravelTime[1] < 0: - # TravelTime = [np.inf,np.inf] - # CrossPoints = [np.nan,np.nan] - # CellPoints = [np.nan,np.nan] - # return TravelTime,CrossPoints,CellPoints - + CrossPoints = (np.clip(CrossPoints[0],vmin,vmax),CrossPoints[1]) return TravelTime,CrossPoints,CellPoints def _corner(self): ''' - FILL + Applying an inplace corner crossing point between the start and end cell boxes + + All outputs are given in SI units (m,m/s,s) + + Outputs: + Traveltime (tuple,[float,float]) - Traveltime legs from start cell centre to crossing to end cell centre + CrossPoints (tuple,[float,float]) - Crossing Point in (long,lat) + CellPoints (tuple,[int,int]) - Start and End cell indices + ''' @@ -375,7 +433,7 @@ def _corner(self): - # Given the case determine the postive and negative position relative to centre + # Given the case determine the positive and negative position relative to centre if self.case==1: ptvX = 1.0 ptvY = 1.0 @@ -389,18 +447,6 @@ def _corner(self): ptvX = -1.0 ptvY = 1.0 - # dx1 = s_dcx*self.m_long*np.cos(s_cy*(np.pi/180)) - # dx2 = n_dcx*self.m_long*np.cos(n_cy*(np.pi/180)) - # dy1 = s_dcy*self.m_lat - # dy2 = n_dcy*self.m_lat - - # # Currents in Cells - # Su = ptvX*self.source_graph['Vector_x']*self.zero_current_factor - # Sv = ptvY*self.source_graph['Vector_y']*self.zero_current_factor - # Nu = ptvX*self.neighbour_graph['Vector_x']*self.zero_current_factor - # Nv = ptvY*self.neighbour_graph['Vector_y']*self.zero_current_factor - - dx1 = ptvX*s_dcx*self.m_long*np.cos(s_cy*(np.pi/180)) dx2 = ptvX*n_dcx*self.m_long*np.cos(n_cy*(np.pi/180)) dy1 = ptvY*s_dcy*self.m_lat @@ -439,10 +485,17 @@ def _corner(self): def value(self): ''' - FILLE + Applying a correction to determine the optimal crossing point between the start and end cell boxes + + All outputs are given in SI units (m,m/s,s) + + Outputs: + Traveltime (tuple,[float,float]) - Traveltime legs from start cell centre to crossing to end cell centre + CrossPoints (tuple,[float,float]) - Crossing Point in (long,lat) + CellPoints (tuple,[int,int]) - Start and End cell indices + Case (int) - Adjacent cell-box case between start and end cell box + ''' - if self.debugging: - print('============================================') if abs(self.case)==2: TravelTime,CrossPoints,CellPoints = self._longitude() elif abs(self.case)==4: @@ -450,1027 +503,8 @@ def value(self): elif abs(self.case)==1 or abs(self.case)==3: TravelTime,CrossPoints,CellPoints = self._corner() else: - print('---> Issue with cell (Xsc,Ysc)={:.2f};{:.2f}'.\ - format(self.source_graph['cx'],self.source_graph['cy'])) TravelTime = [np.inf,np.inf] CrossPoints = [np.nan,np.nan] CellPoints = [np.nan,np.nan] - return TravelTime, CrossPoints, CellPoints, self.case - - -# =================================================================================================== -# =================================================================================================== -# =================================================================================================== -# =================================================================================================== -# =================================================================================================== -# =================================================================================================== - - -class NewtonianCurve: - def __init__(self,neighbour_graph,config,unit_shipspeed='km/hr',unit_time='days', objective_func='traveltime',debugging=False,maxiter=1000,minimumDiff=1e-3,zerocurrents=False): - ''' - Applys path smoothing to input neighbourhood graph constructed during the dijkstra run. - - Args: - neigbour_graph: Dijkstra based neighbourhood graph (Pandas DataFrame) - config: Input path configuration - - Opt Args: - unit_speed: Input unit speed type from mesh (Default:'km/hr') - unit_time: Input unit time to output (Default:'km/hr') - objective_func: Objective function to apply path smoothing relative. - This should be the same as used in Dijkstra. (Default:'traveltime') - - maxiter: Maximum number of iterations for the path smoothing (Default:1000) - minimumDiff: Tolerence for the path smoothing for the maximum deg distance between two points (Default:1e-3) - zerocurrents: Boolean to Zero currents for path smoothing. Used for debugging cases only (Default:False) - - ''' - # Passing the Dijkstra Graph - self.neighbour_graph = copy.copy(neighbour_graph) - - # Passing the optional Information - self.config = config - - - # Inside the code the base units are m/s. Changing the units of the inputs to match - self.unit_shipspeed = unit_shipspeed - self.unit_time = unit_time - - - self.objective_func = objective_func - - # Information for distance metrics - self.R = 6371.*1000 - - # Case indices - self.indx_type = np.array([1, 2, 3, 4, -1, -2, -3, -4]) - - # Optimisation Information - self.maxiter = maxiter - self.minimumDiff = minimumDiff - self._epsilon = 1e-3 - - - # Optimisation Information - self.m_long = 111.321*1000 - self.m_lat = 111.386*1000. - - # For Debugging purposes - self.debugging = debugging - - # zeroing currents if flagged - if zerocurrents: - self.zc = 0.0 - else: - self.zc = 1.0 - - - self.previous_horeshoes = [] - - def _unit_speed(self,Val): - ''' - Applying unit speed for an input type. - ''' - if self.unit_shipspeed == 'km/hr': - Val = Val*(1000/(60*60)) - if self.unit_shipspeed == 'knots': - Val = (Val*0.51) - return Val - - def _unit_time(self,Val): - ''' - Applying Unit time for a specific input type - ''' - if self.unit_time == 'days': - Val = Val/(60*60*24) - elif self.unit_time == 'hr': - Val = Val/(60*60) - elif self.unit_time == 'min': - Val = Val/(60) - elif self.unit_time == 's': - Val = Val - return Val - - - def _calXDist(self,start_long,end_long,centralLat): - ''' - Calculate the X Distance - ''' - return (end_long - start_long)*self.m_long#*np.cos(centralLat*(np.pi/180)) - def _calYDist(self,start_lat,end_lat): - ''' - Calculate the Y Distance - ''' - return (end_lat-start_lat)*self.m_lat - - - def _traveltime_in_cell(self,xdist,ydist,U,V,S): - ''' - Determine the traveltime within cell - ''' - dist = np.sqrt(xdist**2 + ydist**2) - cval = np.sqrt(U**2 + V**2) - - dotprod = xdist*U + ydist*V - diffsqrs = S**2 - cval**2 - - # if (dotprod**2 + diffsqrs*(dist**2) < 0) - if diffsqrs == 0.0: - if dotprod == 0.0: - return np.inf - #raise Exception(' ') - else: - if ((dist**2)/(2*dotprod)) <0: - return np.inf - #raise Exception(' ') - else: - traveltime = dist * dist / (2 * dotprod) - return traveltime - - traveltime = (np.sqrt(dotprod**2 + (dist**2)*diffsqrs) - dotprod)/diffsqrs - if traveltime < 0: - traveltime = np.inf - return self._unit_time(traveltime), dist - - - def _case_from_angle(self,start,end): - """ - Determine the direction of travel between two points in the same cell and return the associated case - - Args: - start (list): the coordinates of the start point within the cell - end (list): the coordinates of the end point within the cell - - Returns: - case (int): the case to use to select variable values from a list - """ - - direct_vec = [end[0]-start[0], end[1]-start[1]] - direct_ang = np.degrees(np.arctan2(direct_vec[0], direct_vec[1])) - - case = None - - if -22.5 <= direct_ang < 22.5: - case = -4 - elif 22.5 <= direct_ang < 67.5: - case = 1 - elif 67.5 <= direct_ang < 112.5: - case = 2 - elif 112.5 <= direct_ang < 157.5: - case = 3 - elif 157.5 <= abs(direct_ang) <= 180: - case = 4 - elif -67.5 <= direct_ang < -22.5: - case = -3 - elif -112.5 <= direct_ang < -67.5: - case = -2 - elif -157.5 <= direct_ang < -112.5: - case = -1 - - return case - - - def _waypoint_correction(self,path_requested_variables,source_graph,Wp,Cp): - ''' - Determine within cell parameters for a source and end point on the edge - ''' - m_long = 111.321*1000 - m_lat = 111.386*1000 - x = (Cp[0]-Wp[0])*m_long*np.cos(Wp[1]*(np.pi/180)) - y = (Cp[1]-Wp[1])*m_lat - case = self._case_from_angle(Cp,Wp) - Su = source_graph['Vector_x']*self.zc - Sv = source_graph['Vector_y']*self.zc - Ssp = self._unit_speed(source_graph['speed'][case]) - traveltime, distance = self._traveltime_in_cell(x,y,Su,Sv,Ssp) - - - segment_values = {} - for var in path_requested_variables.keys(): - if var=='distance': - segment_values[var] = distance - elif var=='traveltime': - segment_values[var] = traveltime - elif var=='cell_index': - segment_values[var] = int(source_graph.name) - else: - if var in source_graph.keys(): - # Determining the objective value information - if type(source_graph[var]) == list: - objective_rate_value = source_graph[var][case] - else: - objective_rate_value = source_graph[var] - if path_requested_variables[var]['processing'] is None: - segment_values[var] = objective_rate_value - else: - segment_values[var] = traveltime*objective_rate_value - - return segment_values, case - - def objective_function(self,Points): - ''' - Given a series of points determine the path based values along the path. - ''' - - # Determining the important variables to return for the paths - required_path_variables = {'distance':{'processing':'cumsum'}, - 'traveltime':{'processing':'cumsum'}, - 'datetime':{'processing':'cumsum'}, - 'cell_index':{'processing':None}, - 'speed':{'processing':None}, - 'fuel':{'processing':'cumsum'}} - path_requested_variables = {} #self.config['Route_Info']['path_variables'] - path_requested_variables.update(required_path_variables) - - - - # Initialising zero arrays for the path variables - variables = {} - for var in path_requested_variables: - variables[var] ={} - variables[var]['path_values'] = np.zeros(len(Points)) - - - # Looping over the path and determining the variable information - for ii in range(len(Points)-1): - - # Determining the cellbox to determine path values from - cellbox = Points.iloc[ii]['cellEnd'] - Wp = Points.iloc[ii][['cx','cy']].to_numpy() - Cp = Points.iloc[ii+1][['cx','cy']].to_numpy() - - # Determining the value for the variable for the segment of the path and the corresponding case - segment_variable, segment_case = self._waypoint_correction(path_requested_variables,cellbox,Wp,Cp) - - # Adding that value for the segment along the paths - for var in segment_variable: - if type(segment_variable[var]) == list: - variables[var]['path_values'][ii+1] = segment_variable[var][segment_case] - else: - variables[var]['path_values'][ii+1] = segment_variable[var] - - - # Applying processing to all path values - for var in variables.keys(): - processing_type = path_requested_variables[var]['processing'] - if type(processing_type) == type(None): - continue - elif processing_type == 'cumsum': - variables[var]['path_values'] = np.cumsum(variables[var]['path_values']) - - return variables - - def _long_case(self): - ''' - Longitude based smoothing - ''' - def NewtonOptimisationLong(f,y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ_s,φ_r): - tryNum=1 - iter=0 - improving=True - while improving: - F,dF,X1,X2 = f(y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ_s,φ_r) - if (F==0) or (dF==0): - dY = 0 - else: - dY = (F/dF) - improving = (abs(dY)>self._epsilon) or (abs(dY) > self._epsilon*(X1*X2) and (abs(dY)/iter) > self._epsilon) - y0 -= dY - iter+=1 - - if (iter>100 and tryNum == 1): - y0 = Y*x/(x+a) - tryNum+=1 - if (iter > 200) and tryNum>= 2 and tryNum < 10: - tryNum+=1 - iter-=100 - if(Y < 0): - if v2>v1: - y0 = (tryNum-2)*Y - else: - y0 = (tryNum-3)*-Y - else: - if (v2 1000: - raise Exception('Newton Curve Issue') - return y0 - - def _F(y,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ_s,φ_r): - ρ = (λ_s+φ_r)/2.0 - ϕ_min = min(λ_s,φ_r) - if λ_s > φ_r: - ϕ_l = ρ - ϕ_r = (ϕ_min+ρ)/2 - else: - ϕ_l = (ϕ_min+ρ)/2 - ϕ_r = ρ - - θ = (y/(2*R) + ϕ_l) #(y/R + λ_s) - zl = x*np.cos(θ) - ψ = ((Y-y)/(2*R) + ϕ_r) #((Y-y)/R + φ_r) - zr = a*np.cos(ψ) - - C1 = speed_s**2 - u1**2 - v1**2 - C2 = speed_e**2 - u2**2 - v2**2 - D1 = zl*u1 + y*v1 - D2 = zr*u2 + (Y-y)*v2 - X1 = np.sqrt(D1**2 + C1*(zl**2 + y**2)) - X2 = np.sqrt(D2**2 + C2*(zr**2 + (Y-y)**2)) - - dzr = -a*np.sin(ψ)/(2*R)#-zr*np.sin(ψ)/R - dzl = -x*np.sin(θ)/(2*R)#-zl*np.sin(θ)/R - - dD1 = dzl*u1 + v1 - dD2 = dzr*u2 - v2 - dX1 = (D1*v1 + C1*y + dzl*(D1*u1 + C1*zl))/X1 - dX2 = (-v2*D2 - C2*(Y-y) + dzr*(D2*u2 + C2*zr))/X2 - - zr_term = (zr - (X2 - D2)*u2/C2) - zl_term = (zl - (X1 - D1)*u1/C1) - - F = (X1+X2)*y - v1*(X1-D1)*X2/C1 - (Y - v2*(X2-D2)/C2)*X1 + dzr*zr_term*X1 + dzl*zl_term*X2 - - dF = (X1+X2) + y*(dX1 + dX2) - (v1/C1)*(dX2*(X1-D1) + X2*(dX1-dD1))\ - - Y*dX1 + (v2/C2)*(dX1*(X2-D2) + X1*(dX2-dD2))\ - - (zr/(4*(R**2)))*zr_term*X1\ - - (zl/(4*(R**2)))*zl_term*X2\ - + dzr*(dzr-u2*(dX2-dD2))/C2*X1\ - + dzl*(dzl-u1*(dX1-dD1))/C1*X2\ - + dzr*zr_term*dX1 + dzl*zl_term*dX2 - - return F,dF,X1,X2 - - Sp = tuple(self.triplet[['cx','cy']].iloc[0]) - Cp = tuple(self.triplet[['cx','cy']].iloc[1]) - Np = tuple(self.triplet[['cx','cy']].iloc[2]) - - cell_s_u = self.neighbour_graph.loc[self.triplet.iloc[1]['cellStart'].name,'Vector_x'] - cell_s_v = self.neighbour_graph.loc[self.triplet.iloc[1]['cellStart'].name,'Vector_y'] - cell_e_u = self.neighbour_graph.loc[self.triplet.iloc[1]['cellEnd'].name,'Vector_x'] - cell_e_v = self.neighbour_graph.loc[self.triplet.iloc[1]['cellEnd'].name,'Vector_y'] - - if self.triplet.iloc[1].case == 2: - sgn = 1 - else: - sgn = -1 - - λ_s = Sp[1]*(np.pi/180) - φ_r = Np[1]*(np.pi/180) - - x = sgn*self._calXDist(Sp[0],Cp[0],Cp[1]) - a = sgn*self._calXDist(Cp[0],Np[0],Cp[1]) - Y = (Np[1]-Sp[1])*self.m_lat - y0 = Y/2 - u1 = sgn*self.zc*cell_s_u; v1 = self.zc*cell_s_v - u2 = sgn*self.zc*cell_e_u; v2 = self.zc*cell_e_v - y = NewtonOptimisationLong(_F,y0,x,a,Y,u1,v1,u2,v2,self.speed_s,self.speed_e,self.R,λ_s,φ_r) - - # Updating the crossing points - self.triplet['cx'].iloc[1] = Cp[0] - self.triplet['cy'].iloc[1] = Sp[1] + y/self.m_lat - - - def _lat_case(self): - ''' - Latitude based smoothing - ''' - def NewtonOptimisationLat(f,y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ,θ,ψ): - tryNum=1 - iter=0 - improving=True - while improving: - F,dF,X1,X2 = f(y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ,θ,ψ) - if (F==0) or (dF==0): - dY = 0 - else: - dY = (F/dF) - improving =abs(dY) > 1 or (abs(dY) > self._epsilon*(X1*X2) and (abs(dY)/iter) > self._epsilon) - y0 -= dY - iter+=1 - - if (iter>100 and tryNum == 1): - y0 = Y*x/(x+a) - tryNum+=1 - if (iter > 200) and tryNum== 2: - tryNum+=1 - if(Y < 0): - if v2>v1: - y0 = Y - else: - y0 = 0 - else: - if (v2 1000: - raise Exception('Newton Curve Issue') - return y0 - - def _F(y,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ,θ,ψ): - λ = λ*(np.pi/180) - ψ = ψ*(np.pi/180) - θ = θ*(np.pi/180) - #r1 = np.cos(λ)/np.cos(θ) - r1 = np.cos((θ + 3*λ)/4)/np.cos(θ) - #r2 = np.cos(ψ)/np.cos(θ) - r2 = np.cos((θ + 3*ψ)/4)/np.cos(θ) - - d1 = np.sqrt(x**2 + (r1*y)**2) - d2 = np.sqrt(a**2 + (r2*(Y-y))**2) - C1 = speed_s**2 - u1**2 - v1**2 - C2 = speed_e**2 - u2**2 - v2**2 - D1 = x*u1 + r1*v1*y - D2 = a*u2 + r2*v2*(Y-y) - X1 = np.sqrt(D1**2 + C1*(d1**2)) - X2 = np.sqrt(D2**2 + C2*(d2**2)) - - dX1 = (r1*(D1*v1 + r1*C1*y))/X1 - - # Cassing Warning message - FIX !! - dX2 = (-r2*(D2*v2 + r2*C2*(Y-y)))/X2 - - F = ((r2**2)*X1+(r1**2)*X2)*y - r1*v1*(X1-D1)*X2/C1 - r2*(r2*Y-v2*(X2-D2)/C2)*X1 - - dF = ((r2**2)*X1 + (r1**2)*X2) + y*((r2**2)*dX1 + (r1**2)*dX2)\ - - r1*v1*((X1-D1)*dX2 + (dX1-r1*v1)*X2)/C1\ - - (r2**2)*Y*dX1\ - + r2*v2*((X2-D2)*dX1 + (dX2+r2*v2)*X1)/C2 - - return F,dF,X1,X2 - - - Sp = tuple(self.triplet.iloc[0][['cx','cy']]) - Cp = tuple(self.triplet.iloc[1][['cx','cy']]) - Np = tuple(self.triplet.iloc[2][['cx','cy']]) - - cell_s_u = self.neighbour_graph.loc[self.triplet.iloc[1]['cellStart'].name,'Vector_x'] - cell_s_v = self.neighbour_graph.loc[self.triplet.iloc[1]['cellStart'].name,'Vector_y'] - cell_e_u = self.neighbour_graph.loc[self.triplet.iloc[1]['cellEnd'].name,'Vector_x'] - cell_e_v = self.neighbour_graph.loc[self.triplet.iloc[1]['cellEnd'].name,'Vector_y'] - - if self.triplet.iloc[1].case == 4: - sgn = 1 - else: - sgn = -1 - - λ=Sp[1] - θ=Cp[1] - ψ=Np[1] - - x = sgn*self._calYDist(Sp[1],Cp[1]) - a = sgn*self._calYDist(Cp[1],Np[1]) - Y = sgn*(Np[0]-Sp[0])*self.m_long*np.cos(Cp[1]*(np.pi/180)) - Su = -sgn*self.zc*cell_s_v; Sv = sgn*self.zc*cell_s_u - Nu = -sgn*self.zc*cell_e_v; Nv = sgn*self.zc*cell_e_u - y0 = Y/2 - - y = NewtonOptimisationLat(_F,y0,x,a,Y,Su,Sv,Nu,Nv,self.speed_s,self.speed_e,self.R,λ,θ,ψ) - - self.triplet['cx'].iloc[1] = Sp[0] + sgn*y/(self.m_long*np.cos(Cp[1]*(np.pi/180))) - self.triplet['cy'].iloc[1] = Cp[1] - - - def _corner_case(self): - ''' - If a point lies on the corner of a cell how to introduce new corner edges. - ''' - # Separting out the Long/Lat of each of the points - Xs,Ys = tuple(self.triplet.iloc[0][['cx','cy']]) - Xc,Yc = tuple(self.triplet.iloc[1][['cx','cy']]) - Xe,Ye = tuple(self.triplet.iloc[2][['cx','cy']]) - - # === 1. Assess the cells that are shared commonly in the corner case ==== - sourceNeighbourIndices = self.triplet.iloc[1]['cellStart'] - endNeighbourIndices = self.triplet.iloc[1]['cellEnd'] - - commonIndices = list(set(sourceNeighbourIndices['neighbourIndex']).intersection(endNeighbourIndices['neighbourIndex'])) - CornerCells = self.neighbour_graph.loc[commonIndices] - - - # Arc Crossing Point - def great_circle_lat(start_lat, start_long, end_lat, end_long,mid_long): - # calculate distance between points - g = pyproj.Geod(ellps='WGS84') - (az12, az21, dist) = g.inv(start_long, start_lat, end_long, end_lat) - # calculate line string along path with segments <= 1 km - lonlats = np.array(g.npts(start_long, start_lat, end_long, end_lat,50000)) - diff = abs(lonlats[:,0]-mid_long) - mid_lat = lonlats[np.argmin(diff),1] - return mid_lat,np.min(diff) - Y_line,diff = great_circle_lat(Ys,Xs,Ye,Xe,Xc) - # if diff > 1e-3: - # raise Exception('Corner Case Issue - Great-Circle Crossing too coarse') - - - try: - if Yc >= Y_line: - newCell = CornerCells.loc[CornerCells['cy'].idxmin()] - if newCell.cy > Yc: - return - elif Yc < Y_line: - newCell = CornerCells.loc[CornerCells['cy'].idxmax()] - if newCell.cy < Yc: - return - # === 3. Return the path crossing points and cell indices - - firstCrossingPoint = np.array(sourceNeighbourIndices['neighbourCrossingPoints'])[np.where(np.array(sourceNeighbourIndices['neighbourIndex'])==newCell.name)[0][0],:] - secondCrossingPoint = np.array(newCell['neighbourCrossingPoints'])[np.where(np.array(newCell['neighbourIndex'])==endNeighbourIndices.name)[0][0],:] - except: - return - - if np.isnan(np.concatenate([firstCrossingPoint,secondCrossingPoint]).astype(float)).any(): - return - - - # Crossing point 1 - Pcrp1 = copy.deepcopy(self.triplet.iloc[0]) - # Crossing point 2 - Pcrp2 = pd.Series(name=self.triplet.iloc[1].name,dtype='object') - Pcrp2['cx'] = firstCrossingPoint[0] - Pcrp2['cy'] = firstCrossingPoint[1] - Pcrp2['cellStart'] = copy.deepcopy(self.triplet['cellStart'].iloc[1]) - Pcrp2['cellEnd'] = copy.deepcopy(newCell) - Pcrp2['case'] = self.triplet['cellStart'].iloc[1]['case'][np.where(np.array(self.triplet['cellStart'].iloc[1]['neighbourIndex'])==newCell.name)[0][0]] - - # Crossing point 3 - Pcrp3 = pd.Series(name=self.triplet.iloc[1].name+1,dtype='object') - Pcrp3['cx'] = secondCrossingPoint[0] - Pcrp3['cy'] = secondCrossingPoint[1] - Pcrp3['cellStart'] = copy.deepcopy(newCell) - Pcrp3['cellEnd'] = copy.deepcopy(self.triplet['cellEnd'].iloc[1]) - Pcrp3['case'] = Pcrp3['cellStart']['case'][np.where(np.array(Pcrp3['cellStart']['neighbourIndex'])==Pcrp3['cellEnd'].name)[0][0]] - # Crossing point 4 - Pcrp4 = copy.deepcopy(self.triplet.iloc[2]) - - self.horshoe_points = pd.concat([Pcrp1.to_frame().transpose(),Pcrp2.to_frame().transpose(),Pcrp3.to_frame().transpose(),Pcrp4.to_frame().transpose()], sort=True).sort_index() - - # Smoothing these points - tmp_id=0 - self.org_triplet = copy.copy(self.triplet) - while tmp_id <= (len(self.horshoe_points) - 3): - self.triplet = self.horshoe_points.iloc[tmp_id:tmp_id+3] - self._crossing_point_optimisation() - _,_ = self._checking_crossing() - if not self._trigger_horeshoe: - self.horshoe_points.iloc[tmp_id:tmp_id+3] = self.triplet - else: - if abs(self.triplet.iloc[1]['case']) == 2: - self.triplet['cy'].iloc[1] = np.clip(self.triplet.iloc[1]['cy'],self._vmin+1e-9,self._vmax-1e-9) - if abs(self.triplet.iloc[1]['case']) == 4: - self.triplet['cx'].iloc[1] = np.clip(self.triplet.iloc[1]['cx'],self._vmin+1e-9,self._vmax-1e-9) - self.horshoe_points.iloc[tmp_id:tmp_id+3] = self.triplet - tmp_id+=1 - self.triplet = copy.copy(self.org_triplet) - self._corner_created = True - return - - - - def _mergePoint(self,merge_distance = 1e-4): - ''' - Merging two points into a corner case if their distance is small enough. - ''' - - def PtDist(Ser1,Ser2): - #return np.sqrt(self._calXDist(Ser2['cx'],Ser1['cx'])**2 + self._calXDist(Ser2['cy'],Ser1['cy'])**2) - return np.sqrt((Ser1['cx'] - Ser2['cx'])**2 + (Ser1['cy'] - Ser2['cy'])**2) - - id=0 - while id < len(self.CrossingDF)-3: - triplet = self.CrossingDF.iloc[id:id+3] - if PtDist(triplet.iloc[0],triplet.iloc[1]) < merge_distance: - try: - neighbourIndex = np.where(np.array(triplet.iloc[0]['cellStart']['neighbourIndex'])==triplet.iloc[1]['cellEnd'].name)[0][0] - except: - id+=1 - continue - case = triplet['cellStart'].iloc[0]['case'][neighbourIndex] - crossingPoint = triplet['cellStart'].iloc[0]['neighbourCrossingPoints'][neighbourIndex] - triplet['cx'].iloc[0] = crossingPoint[0] - triplet['cy'].iloc[0] = crossingPoint[1] - triplet['cellEnd'].iloc[0] = copy.deepcopy(triplet.iloc[1]['cellEnd']) - triplet['case'].iloc[0] = copy.deepcopy(case) - self.CrossingDF = self.CrossingDF.drop(triplet.iloc[1].name) - if PtDist(triplet.iloc[1],triplet.iloc[2]) < merge_distance: - try: - neighbourIndex = np.where(np.array(triplet.iloc[1]['cellStart']['neighbourIndex'])==triplet.iloc[2]['cellEnd'].name)[0][0] - except: - id+=1 - continue - case = triplet['cellStart'].iloc[1]['case'][neighbourIndex] - crossingPoint = triplet['cellStart'].iloc[1]['neighbourCrossingPoints'][neighbourIndex] - triplet['cx'].iloc[1] = crossingPoint[0] - triplet['cy'].iloc[1] = crossingPoint[1] - triplet['cellEnd'].iloc[1] = copy.deepcopy(triplet.iloc[2]['cellEnd']) - triplet['case'].iloc[1] = copy.deepcopy(case) - self.CrossingDF = self.CrossingDF.drop(triplet.iloc[2].name) - - id+=1 - - self.CrossingDF = self.CrossingDF.sort_index().reset_index(drop=True) - - - # def PointDistance(CrossingDF): - # dist = (np.array(CrossingDF['cx'])[1:]-np.array(CrossingDF['cx'])[:-1]) +(np.array(CrossingDF['cy'])[1:]-np.array(CrossingDF['cy'])[:-1]) - # return dist - # idx_merg_points = (PointDistance(self.CrossingDF) < merge_distance) - # while idx_merg_points.any(): - # idx = np.where(idx_merg_points)[0][0] - # cellStart = self.CrossingDF.iloc[idx]['cellStart'] - # cellEnd = self.CrossingDF.iloc[idx+1]['cellEnd'] - # neighbour_indx = np.where(cellStart['neighbourIndex']==cellEnd.name)[0][0] - # self.CrossingDF.iloc[idx]['cellEnd'] = cellEnd - # self.CrossingDF.iloc[idx]['case'] = cellStart['case'][neighbour_indx] - # self.CrossingDF.iloc[idx]['cx'] = cellStart['neighbourCrossingPoints'][neighbour_indx][0] - # self.CrossingDF.iloc[idx]['cy'] = cellStart['neighbourCrossingPoints'][neighbour_indx][1] - # self.CrossingDF = self.CrossingDF.drop(self.CrossingDF.index[idx+1]) - # self.CrossingDF = self.CrossingDF.sort_index().reset_index(drop=True) - # self.CrossingDF.index = np.arange(int(self.CrossingDF.index.min()),int(self.CrossingDF.index.max()*1e3 + 1e3),int(1e3)) - # idx_merg_points = (PointDistance(self.CrossingDF) < merge_distance) - - - - - - def _checking_crossing(self): - ''' - Checks to determine if the crossing point has moved outside the domain. - ''' - - self._trigger_horeshoe = False - Cp = tuple(self.triplet[['cx','cy']].iloc[1]) - cellStartGraph = self.triplet.iloc[1]['cellStart'] - cellEndGraph = self.triplet.iloc[1]['cellEnd'] - case = self.triplet['case'].iloc[1] - - orgtriplet = copy.copy(self.triplet) - - # Returning if corner horseshoe case type - if abs(case)==1 or abs(case)==3 or abs(case)==0: - # self.triplet['cx'].iloc[1] = np.clip(self.triplet.iloc[1]['cx'],cellStartGraph['cx']-cellStartGraph['dcx'] ,cellStartGraph['cx']+cellStartGraph['dcx']) - # self.triplet['cy'].iloc[1] = np.clip(self.triplet.iloc[1]['cy'],cellStartGraph['cy']-cellStartGraph['dcy'] ,cellStartGraph['cy']+cellStartGraph['dcy']) - return None,None - elif abs(case) == 2: - # Defining the min and max of the start and end cells - smin = cellStartGraph['cy']-cellStartGraph['dcy'] - smax = cellStartGraph['cy']+cellStartGraph['dcy'] - emin = cellEndGraph['cy']-cellEndGraph['dcy'] - emax = cellEndGraph['cy']+cellEndGraph['dcy'] - - # Defining the global min and max - vmin = np.max([smin,emin]) - vmax = np.min([smax,emax]) - - # Point crossingpoint on boundary between the two origional cells - if (Cp[1] >= vmin) and (Cp[1] <= vmax): - self.triplet['cy'].iloc[1] = np.clip(self.triplet.iloc[1]['cy'],vmin+1e-9,vmax-1e-9) - return None,None - - # If Start and end cells share a edge for the horesshoe - if (Cp[1]smax) and (smax==emax): - hrshCaseStart = -4 - hrshCaseEnd = -4 - - # --- Cases where StartCell is Larger than end Cell --- - if (Cp[1]>emax) and (smax>emax): - hrshCaseStart = case - hrshCaseEnd = (-4) - if (Cp[1]smax) and (smax= vmin) and (Cp[0] <= vmax): - self.triplet['cx'].iloc[1] = np.clip(self.triplet.iloc[1]['cx'],vmin+1e-9,vmax-1e-9) - return None,None - - # If Start and end cells share a edge for the horesshoe - if (Cp[0]smax) and (smax==emax): - hrshCaseStart = 2 - hrshCaseEnd = 2 - - # --- Cases where StartCell is Larger than end Cell --- - if (Cp[0]>emax) and (smax>emax): - hrshCaseStart = case - hrshCaseEnd = (2) - if (Cp[0]smax) and (smax -10: - horeshoe_points = self.horshoe_points[['cx','cy']].iloc[1:-1].to_numpy() - same_horseshoes_num = count_similarities(horeshoe_points.tolist(),self.previous_horeshoes) - if same_horseshoes_num <=3: - self.CrossingDF = self.CrossingDF.drop(self.triplet.index) - self.CrossingDF = pd.concat([self.CrossingDF, self.horshoe_points]).sort_index().reset_index(drop=True) - self.previous_horeshoes += [[iter,self.horshoe_points[['cx','cy']].iloc[1:-1].to_numpy().tolist(),self._horshoe_percentage_improvement]] - - self._reverseCase() - self.CrossingDF = self.CrossingDF.reset_index(drop=True) - self.CrossingDF.index = np.arange(int(self.CrossingDF.index.min()),int(self.CrossingDF.index.max()*1e3 + 1e3),int(1e3)) - - - -def count_similarities(horshoe_points,previous_horeshoes): - comparison = [] - if len(previous_horeshoes) == 0: - return 0 - for entry in previous_horeshoes: - old_horeshoes = entry[1] - similar = (horshoe_points == old_horeshoes) - if type(similar) == bool: - comparison += [similar] - else: - comparison += [similar.all()] - return len(np.where(comparison)[0]) \ No newline at end of file + return TravelTime, CrossPoints, CellPoints, self.case \ No newline at end of file diff --git a/polar_route/crossing_smoothing.py b/polar_route/crossing_smoothing.py new file mode 100644 index 00000000..2f1d9075 --- /dev/null +++ b/polar_route/crossing_smoothing.py @@ -0,0 +1,1558 @@ +import copy +import pandas as pd +import numpy as np +import pyproj +import logging + +def _dist_around_globe(start_point,crossing_point): + """ + Determining the longitude distance around the globe between two points + + Args: + start_point (tuple): Start Waypoint (long,lat) + crossing_point (tuple): End Waypoint (long,lat) + Returns: + a (float): longitude distance between the two points in degrees + """ + a1 = np.sign(crossing_point-start_point)*(np.max([start_point,crossing_point])-np.min([start_point,crossing_point])) + a2 = -(360-(np.max([start_point,crossing_point])-np.min([start_point,crossing_point])))*np.sign(crossing_point-start_point) + + dist = [a1,a2] + indx = np.argmin(abs(np.array(dist))) + + a = dist[indx] + return a + +class find_edge: + """ + Class to return characteristics information about the edge connecting two + cells. This information includes. + + crossing (tuple) - Crossing point (long,lat) + case (int) - Case type connecting the two cells + start (dict) - Dictionary containing the environmental parameters of the start cell + end (dict) - Dictionary containing the environmental parameters of the end cell + + """ + def __init__(self,cell_a,cell_b,case): + self.crossing,self.case,self.start,self.end = self._find_edge(cell_a,cell_b,case) + + def _find_edge(self,cell_a,cell_b,case): + ''' + Function that returns the edge connecting to cells, cell_a and cell_b. If there is no edge + connecting the two then it returns None + + Args: + cell_a (dict): Dictionary of cell_a information + cell_b (dict): Dictionary of cell_b information + + Returns + crossing (tuple) - Crossing point (long,lat) connecting the two cells + case (int) - Case type connecting the two cells + start (dict) - Dictionary containing the environmental parameters of the start cell + end (dict) - Dictionary containing the environmental parameters of the end cell + ''' + + # Determining the crossing point between the two cells + crossing_points = [] + for indx in range(len(cell_a['neighbourCrossingPoints'])): + if (cell_a['neighbourIndex'][indx] == cell_b['id']) and (cell_a['case'][indx] == case): + crossing_points += [np.array(cell_a['neighbourCrossingPoints'][indx])] + if len(crossing_points) == 1: + crossing = crossing_points[0] + case = case + start = cell_a + end = cell_b + else: + crossing = None + case = None + start = None + end = None + + return crossing,case,start,end + +# ===================================================== +class PathValues: + ''' + A class that returns attributes along a given paths intersecting the environmental/vessel mesh. + + Attributes: + path_requested_variables (dict) - Dictionary of the required path variables and the processing method + e.g.{'distance':{'processing':'cumsum'}, + 'traveltime':{'processing':'cumsum'}, + 'datetime':{'processing':'cumsum'}, + 'cell_index':{'processing':None}, + 'fuel':{'processing':'cumsum'}} + + unit_shipspeed (string) - Unit speed type. This is a string of type: 'km/hr','knots' + unit_time (string) - Unit time format. This is a string of type: 'days','hr','min','s + + Functions: + objective_function - For a list of adjacent cell pairs, start and end waypoints compute path attributes + + ''' + def __init__(self): + + # Determining the important variables to return for the paths + required_path_variables = {'distance':{'processing':'cumsum'}, + 'traveltime':{'processing':'cumsum'}, + 'speed':{'processing':None}, + 'datetime':{'processing':'cumsum'}, + 'cell_index':{'processing':None}, + 'fuel':{'processing':'cumsum'}} + self.path_requested_variables = {} #self.config['Route_Info']['path_variables'] + self.path_requested_variables.update(required_path_variables) + + + self.unit_shipspeed='km/hr' + self.unit_time='days' + + + def _unit_speed(self,Val): + ''' + Applying unit speed for an input type. + + Input: + Val (float) - Input speed in m/s + Output: + Val (float) - Output speed in unit type unit_shipspeed + + ''' + if self.unit_shipspeed == 'km/hr': + Val = Val*(1000/(60*60)) + if self.unit_shipspeed == 'knots': + Val = (Val*0.51) + return Val + + def _unit_time(self,Val): + ''' + Applying unit time for an input type. + + Input: + Val (float) - Input time in s + Output: + Val (float) - Output time in unit type unit_time + + ''' + if self.unit_time == 'days': + Val = Val/(60*60*24) + elif self.unit_time == 'hr': + Val = Val/(60*60) + elif self.unit_time == 'min': + Val = Val/(60) + elif self.unit_time == 's': + Val = Val + return Val + + + + + def _case_from_angle(self,start,end): + """ + Determine the direction of travel between two points in the same cell and return the associated case + + Args: + start (list): the coordinates of the start point within the cell + end (list): the coordinates of the end point within the cell + + Returns: + case (int): the case to use to select variable values from a list + """ + + direct_vec = [end[0]-start[0], end[1]-start[1]] + direct_ang = np.degrees(np.arctan2(direct_vec[0], direct_vec[1])) + + case = None + + if -22.5 <= direct_ang < 22.5: + case = -4 + elif 22.5 <= direct_ang < 67.5: + case = 1 + elif 67.5 <= direct_ang < 112.5: + case = 2 + elif 112.5 <= direct_ang < 157.5: + case = 3 + elif 157.5 <= abs(direct_ang) <= 180: + case = 4 + elif -67.5 <= direct_ang < -22.5: + case = -3 + elif -112.5 <= direct_ang < -67.5: + case = -2 + elif -157.5 <= direct_ang < -112.5: + case = -1 + + return case + + def _traveltime_in_cell(self,xdist,ydist,U,V,S): + ''' + Determine the traveltime within cell + + Inputs: + xdist (float) - Longitude distance between two points in km + ydist (float) - Latitude distance between two points in km + U (float) - U-Component for the forcing vector + V (float) - V-Component for the forcing vector + S (float) - Speed of the vehicle + + ''' + dist = np.sqrt(xdist**2 + ydist**2) + cval = np.sqrt(U**2 + V**2) + + dotprod = xdist*U + ydist*V + diffsqrs = S**2 - cval**2 + + # if (dotprod**2 + diffsqrs*(dist**2) < 0) + if diffsqrs == 0.0: + if dotprod == 0.0: + return np.inf + #raise Exception(' ') + else: + if ((dist**2)/(2*dotprod)) <0: + return np.inf + #raise Exception(' ') + else: + traveltime = dist * dist / (2 * dotprod) + return traveltime + + traveltime = (np.sqrt(dotprod**2 + (dist**2)*diffsqrs) - dotprod)/diffsqrs + if traveltime < 0: + traveltime = np.inf + return self._unit_time(traveltime), dist + + def _waypoint_correction(self,path_requested_variables,source_graph,Wp,Cp): + ''' + Applies an in-cell correction to a path segments to determine 'path_requested_variables' + defined by the use (e.g. total distance, total traveltime, total fuel usage) + + Input: + path_requested_variable (dict) - A dictionary of the path requested variables + source_graph (dict) - Dictionary of the cell in which the vessel is transiting + Wp (tuple) - Start Waypoint location (long,lat) + Cp (tuple) - End Waypoint location (long,lat) + + Returns: + segment_values (dict) - Dictionary of the segment value information + case (int) - Adjacency case type connecting the two points + + + ''' + + # Determine the travel-time and distance between start and end waypoint given + #environmental forcing variables + m_long = 111.321*1000 + m_lat = 111.386*1000 + x = _dist_around_globe(Cp[0],Wp[0])*m_long*np.cos(Wp[1]*(np.pi/180)) + y = (Cp[1]-Wp[1])*m_lat + case = self._case_from_angle(Cp,Wp) + Su = source_graph['Vector_x'] + Sv = source_graph['Vector_y'] + Ssp = self._unit_speed(source_graph['speed'][case]) + traveltime, distance = self._traveltime_in_cell(x,y,Su,Sv,Ssp) + + # Given the traveltime and distance between the two waypoints + # determine the path related variables (e.g. fuel usage, traveltime) + segment_values = {} + for var in path_requested_variables.keys(): + if var=='distance': + segment_values[var] = distance + elif var=='traveltime': + segment_values[var] = traveltime + elif var=='cell_index': + segment_values[var] = int(source_graph['id']) + else: + if var in source_graph.keys(): + # Determining the objective value information. Apply and inplace + #metric along path e.g. cumulative sum of values + if type(source_graph[var]) == list: + objective_rate_value = source_graph[var][case] + else: + objective_rate_value = source_graph[var] + if path_requested_variables[var]['processing'] is None: + segment_values[var] = objective_rate_value + else: + segment_values[var] = traveltime*objective_rate_value + + return segment_values, case + + def objective_function(self,adjacent_pairs,start_waypoint,end_waypoint): + ''' + Given a list of adjacent pairs determine the path related information + apply waypoint_correction to get path related information along the path + + Inputs: + adjacent_pairs (list of type find_edge) - A list of the adjacent cell pairs in the form of find_edge + start_waypoint (tuple) - Start waypoint (long,lat) + end_waypoint (tuple) - End waypoint (long,lat) + + ''' + # Initialising zero arrays for the path variables + variables = {} + for var in self.path_requested_variables: + variables[var] ={} + variables[var]['path_values'] = np.zeros(len(adjacent_pairs)+2) + + + # Path point + path_points = [start_waypoint] + + # Looping over the path and determining the variable information + for ii in range(len(adjacent_pairs)+1): + if ii == 0: + Wp = start_waypoint + Cp = adjacent_pairs[ii].crossing + cellbox = adjacent_pairs[ii].start + elif ii == (len(adjacent_pairs)): + Wp = adjacent_pairs[ii-1].crossing + Cp = end_waypoint + cellbox = adjacent_pairs[ii-1].end + else: + Wp = adjacent_pairs[ii-1].crossing + Cp = adjacent_pairs[ii].crossing + cellbox = adjacent_pairs[ii].start + + # Adding End point + path_points += [Cp] + + # Determining the value for the variable for the segment of the path and the corresponding case + segment_variable, segment_case = self._waypoint_correction(self.path_requested_variables,cellbox,Wp,Cp) + + # Adding that value for the segment along the paths + for var in segment_variable: + if type(segment_variable[var]) == np.ndarray: + variables[var]['path_values'][ii+1] = segment_variable[var][segment_case] + else: + variables[var]['path_values'][ii+1] = segment_variable[var] + + + # Applying processing to all path values + for var in variables.keys(): + processing_type = self.path_requested_variables[var]['processing'] + if type(processing_type) == type(None): + continue + elif processing_type == 'cumsum': + variables[var]['path_values'] = np.cumsum(variables[var]['path_values']) + + + path_info = {} + path_info['path'] = np.array(path_points) + path_info['variables'] = variables + + return path_info + +#====================================================== +class Smoothing: + def __init__(self,dijkstra_graph,adjacent_pairs,start_waypoint,end_waypoint,blocked_metric='SIC',max_iterations=2000,blocked_sic=10.0,merge_separation=1e-3,converged_sep=1e-3): + ''' + Class construct that has all the operations required for path smoothing. Including: Relationship of adjacent pairs, + edge finding new edges to add and returns a list of the adjacent pairs for the constructed path + + + Args: + dijkstra_graph (dict) - Dictionary comprising all the environmental mesh information and dijkstra graph information. + This includes but is not limited to: path crossing points to cell centre, neighbour crossing + + + adjacent_pairs (list,find_edge) - An initial list of adjacent cell pairs as 'find_edge' objects comprising: .start, the start cell environmental mesh dictionary; + .end, the end environmental cell information; .crossing, a tuple of the crossing point on the edge (long,lat); and, + .case, the adjacent cell case between the two cell boxes. + + start_waypoint (tuple) - Start Waypoint (long,lat) + end_waypoint (tuple) - End Waypoint (long,lat) + + ''' + self._initialise_config() + self.dijkstra_graph = dijkstra_graph + self.aps = adjacent_pairs + self.start_waypoint = start_waypoint + self.end_waypoint = end_waypoint + self.blocked_metric = blocked_metric + self.max_iterations = max_iterations + self.blocked_sic = blocked_sic + self.merge_separation = merge_separation + self.converged_sep = converged_sep + self._g = pyproj.Geod(ellps='WGS84') + + + + for key in self.dijkstra_graph.keys(): + cell = self.dijkstra_graph[key] + if len(cell['neighbourTravelLegs'])>0: + accessible_edges = np.where(np.isfinite(np.sum(cell['neighbourTravelLegs'],axis=1)))[0] + cell['case'] = cell['case'][accessible_edges] + cell['neighbourIndex'] = cell['neighbourIndex'][accessible_edges] + cell['neighbourCrossingPoints'] = cell['neighbourCrossingPoints'][accessible_edges] + cell['neighbourTravelLegs'] = cell['neighbourTravelLegs'][accessible_edges] + + self.dijkstra_graph[key] = cell + + def _initialise_config(self): + ''' + Initialising configuration information. If None return a list of standards + ''' + + + + def _long_case(self,start,end,case,Sp,Cp,Np): + ''' + Longitude based smoothing updating the crossing point given the conditions + of the adjacency pair + + Input: + start (dict) - Dictionary of the start cell information + end (dict) - Dictionary of the end cell information + case (int) - Adjacency case type connecting the two cells + Sp (tuple) - Start Point (long,lat) + Cp (tuple) - Crossing Point (long,lat) + Np (tuple) - End Point (long,lat) + + Returns: + Cp (tuple) - Updated Crossing Point (long,lat) + + ''' + def NewtonOptimisationLong(f,y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ_s,φ_r): + ''' + Apply newton optimisation to determine an update to the crossing point. + + All information must be considered in tandem to scientific publication + https://arxiv.org/pdf/2209.02389 + + Args: + y0 (float) - Current Crossing point as a parallel distance along crossing boundary from start cell centre to crossing point + x (float) - Perpendicular distance from first-point to crossing boundary + a (float) - Perpendicular distance from crossing boundary to end-point + Y (float) - Parallel distance, along crossing boundary, between start-point and end-point + u1 (float) - Start Cell perpendicular to crossing boundary forcing component + v1 (float) - Start Cell parallel to crossing boundary forcing component + u2 (float) - End Cell perpendicular to crossing boundary forcing component + v2 (float) - End Cell parallel to crossing boundary forcing component + speed_s (float) - Start Cell max speed + speed_e (float) - End Cell max speed + R (float) - Radius of the Earth + λ_s (float) - Start point latitude in radians + φ_r (float) - End point latitude in radians + + + Outputs: + y0 (float) - Updated Crossing point as a parallel distance along crossing boundary from start cell centre to crossing point + + ''' + + tryNum=1 + iter_number=0 + improving=True + _epsilon = 1e-4 + while improving: + F,dF,X1,X2 = f(y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ_s,φ_r) + if (F==0) or (dF==0): + dY = 0 + else: + dY = (F/dF) + if iter_number != 0: + improving = (abs(dY)>_epsilon) or (abs(dY) > _epsilon*(X1*X2) and (abs(dY)/iter) > _epsilon) + else: + improving = True + y0 -= dY + iter_number+=1 + + if (iter_number>100 and tryNum == 1): + y0 = Y*x/(x+a) + tryNum+=1 + if (iter_number > 200) and tryNum>= 2 and tryNum < 10: + tryNum+=1 + iter_number-=100 + if(Y < 0): + if v2>v1: + y0 = (tryNum-2)*Y + else: + y0 = (tryNum-3)*-Y + else: + if (v2 1000: + raise Exception('Newton Curve Issue - Longitude Case') + return y0 + + def _F(y,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ_s,φ_r): + ''' + Determining Newton Function and differential of newton function from the longitude crossing point optimisation + + Args: + y (float) - Current Crossing point as a parallel distance along crossing boundary from start cell centre to crossing point + x (float) - Perpendicular distance from first-point to crossing boundary + a (float) - Perpendicular distance from crossing boundary to end-point + Y (float) - Parallel distance, along crossing boundary, between start-point and end-point + u1 (float) - Start Cell perpendicular to crossing boundary forcing component + v1 (float) - Start Cell parallel to crossing boundary forcing component + u2 (float) - End Cell perpendicular to crossing boundary forcing component + v2 (float) - End Cell parallel to crossing boundary forcing component + speed_s (float) - Start Cell max speed + speed_e (float) - End Cell max speed + R (float) - Radius of the Earth + λ_s (float) - Start point latitude in radians + φ_r (float) - End point latitude in radians + + Outputs: + F (float) - Newton function value + dF (float) - Differential of Newton function value + X1 (float) - Characteristic X distance in start cell + X2 (float) - Characteristic X distance in end cell + + ''' + + + ρ = (λ_s+φ_r)/2.0 + ϕ_min = min(λ_s,φ_r) + if λ_s > φ_r: + ϕ_l = ρ + ϕ_r = (ϕ_min+ρ)/2 + else: + ϕ_l = (ϕ_min+ρ)/2 + ϕ_r = ρ + + θ = (y/(2*R) + ϕ_l) #(y/R + λ_s) + zl = x*np.cos(θ) + ψ = ((Y-y)/(2*R) + ϕ_r) #((Y-y)/R + φ_r) + zr = a*np.cos(ψ) + + C1 = speed_s**2 - u1**2 - v1**2 + C2 = speed_e**2 - u2**2 - v2**2 + D1 = zl*u1 + y*v1 + D2 = zr*u2 + (Y-y)*v2 + X1 = np.sqrt(D1**2 + C1*(zl**2 + y**2)) + X2 = np.sqrt(D2**2 + C2*(zr**2 + (Y-y)**2)) + + dzr = -a*np.sin(ψ)/(2*R)#-zr*np.sin(ψ)/R + dzl = -x*np.sin(θ)/(2*R)#-zl*np.sin(θ)/R + + dD1 = dzl*u1 + v1 + dD2 = dzr*u2 - v2 + dX1 = (D1*v1 + C1*y + dzl*(D1*u1 + C1*zl))/X1 + dX2 = (-v2*D2 - C2*(Y-y) + dzr*(D2*u2 + C2*zr))/X2 + + zr_term = (zr - (X2 - D2)*u2/C2) + zl_term = (zl - (X1 - D1)*u1/C1) + + F = (X1+X2)*y - v1*(X1-D1)*X2/C1 - (Y - v2*(X2-D2)/C2)*X1 + dzr*zr_term*X1 + dzl*zl_term*X2 + + dF = (X1+X2) + y*(dX1 + dX2) - (v1/C1)*(dX2*(X1-D1) + X2*(dX1-dD1))\ + - Y*dX1 + (v2/C2)*(dX1*(X2-D2) + X1*(dX2-dD2))\ + - (zr/(4*(R**2)))*zr_term*X1\ + - (zl/(4*(R**2)))*zl_term*X2\ + + dzr*(dzr-u2*(dX2-dD2))/C2*X1\ + + dzl*(dzl-u1*(dX1-dD1))/C1*X2\ + + dzr*zr_term*dX1 + dzl*zl_term*dX2 + + return F,dF,X1,X2 + + + + Sp = list(Sp) + Cp = list(Cp) + Np = list(Np) + + cell_s_u = start['Vector_x'] + cell_s_v = start['Vector_y'] + cell_e_u = end['Vector_x'] + cell_e_v = end['Vector_y'] + speed_s = start['speed'][0]*(1000/(60*60)) + speed_e = end['speed'][0]*(1000/(60*60)) + Rd = 6371.*1000 + + + + if case == 2: + sgn = 1 + else: + sgn = -1 + + λ_s = Sp[1]*(np.pi/180) + φ_r = Np[1]*(np.pi/180) + + x = _dist_around_globe(Cp[0],Sp[0])*111.321*1000. + a = _dist_around_globe(Np[0],Cp[0])*111.321*1000. + + Y = (Np[1]-Sp[1])*111.386*1000. + y0 = Y/2 + u1 = sgn*cell_s_u; v1 = cell_s_v + u2 = sgn*cell_e_u; v2 = cell_e_v + y = NewtonOptimisationLong(_F,y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,Rd,λ_s,φ_r) + + # Updating the crossing points + Cp = (Cp[0], + Sp[1] + y/(111.386*1000.)) + + return Cp + + + def _lat_case(self,start,end,case,Sp,Cp,Np): + ''' + Latitude based smoothing updating the crossing point given the conditions + of the adjacency pair + + Input: + start (dict) - Dictionary of the start cell information + end (dict) - Dictionary of the end cell information + case (int) - Adjacency case type connecting the two cells + Sp (tuple) - Start Point (long,lat) + Cp (tuple) - Crossing Point (long,lat) + Np (tuple) - End Point (long,lat) + + Returns: + Cp (tuple) - Updated crossing Point (long,lat) + + ''' + def NewtonOptimisationLat(f,y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ,θ,ψ): + ''' + Apply newton optimisation to determine an update to the crossing point in a latitude. + + All information must be considered in tandem to scientific publication. + + Args: + y0 (float) - Current Crossing point as a parallel distance along crossing boundary from start cell centre to crossing point + x (float) - Perpendicular distance from first-point to crossing boundary + a (float) - Perpendicular distance from crossing boundary to end-point + Y (float) - Parallel distance, along crossing boundary, between start-point and end-point + u1 (float) - Start Cell perpendicular to crossing boundary forcing component + v1 (float) - Start Cell parallel to crossing boundary forcing component + u2 (float) - End Cell perpendicular to crossing boundary forcing component + v2 (float) - End Cell parallel to crossing boundary forcing component + speed_s (float) - Start Cell max speed + speed_e (float) - End Cell max speed + R (float) - Radius of the Earth + λ (float) - Start point latitude in radians + θ (float) - Crossing point latitude in radians + φ (float) - End point latitude in radians + + + Outputs: + y0 (float) - Updated Crossing point as a parallel distance along crossing boundary from start cell centre to crossing point + + ''' + + + tryNum=1 + iter_number=0 + improving=True + _epsilon = 1e-4 + + while improving: + F,dF,X1,X2 = f(y0,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ,θ,ψ) + if (F==0) or (dF==0): + dY = 0 + else: + dY = (F/dF) + if iter_number != 0: + improving =abs(dY) > 1 or (abs(dY) > _epsilon*(X1*X2) and (abs(dY)/iter) > _epsilon) + else: + improving = True + y0 -= dY + iter_number+=1 + + if (iter_number>100 and tryNum == 1): + y0 = Y*x/(x+a) + tryNum+=1 + if (iter_number > 200) and tryNum== 2: + tryNum+=1 + if(Y < 0): + if v2>v1: + y0 = Y + else: + y0 = 0 + else: + if (v2 1000: + raise Exception('Newton Curve Issue - Latitude Case') + return y0 + + def _F(y,x,a,Y,u1,v1,u2,v2,speed_s,speed_e,R,λ,θ,ψ): + + ''' + Determining Newton Function and differential of newton function from the longitude crossing point optimisation + + Args: + y (float) - Current Crossing point as a parallel distance along crossing boundary from start cell centre to crossing point + x (float) - Perpendicular distance from first-point to crossing boundary + a (float) - Perpendicular distance from crossing boundary to end-point + Y (float) - Parallel distance, along crossing boundary, between start-point and end-point + u1 (float) - Start Cell perpendicular to crossing boundary forcing component + v1 (float) - Start Cell parallel to crossing boundary forcing component + u2 (float) - End Cell perpendicular to crossing boundary forcing component + v2 (float) - End Cell parallel to crossing boundary forcing component + speed_s (float) - Start Cell max speed + speed_e (float) - End Cell max speed + R (float) - Radius of the Earth + λ (float) - Start point latitude in degrees + θ (float) - Crossing point latitude in degrees + φ (float) - End point latitude in degrees + + Outputs: + F (float) - Newton function value + dF (float) - Differential of Newton function value + X1 (float) - Characteristic X distance in start cell + X2 (float) - Characteristic X distance in end cell + + ''' + + + λ = λ*(np.pi/180) + ψ = ψ*(np.pi/180) + θ = θ*(np.pi/180) + #r1 = np.cos(λ)/np.cos(θ) + r1 = np.cos((θ + 3*λ)/4)/np.cos(θ) + #r2 = np.cos(ψ)/np.cos(θ) + r2 = np.cos((θ + 3*ψ)/4)/np.cos(θ) + + d1 = np.sqrt(x**2 + (r1*y)**2) + d2 = np.sqrt(a**2 + (r2*(Y-y))**2) + C1 = speed_s**2 - u1**2 - v1**2 + C2 = speed_e**2 - u2**2 - v2**2 + D1 = x*u1 + r1*v1*y + D2 = a*u2 + r2*v2*(Y-y) + X1 = np.sqrt(D1**2 + C1*(d1**2)) + X2 = np.sqrt(D2**2 + C2*(d2**2)) + + dX1 = (r1*(D1*v1 + r1*C1*y))/X1 + dX2 = (-r2*(D2*v2 + r2*C2*(Y-y)))/X2 + + F = ((r2**2)*X1+(r1**2)*X2)*y - r1*v1*(X1-D1)*X2/C1 - r2*(r2*Y-v2*(X2-D2)/C2)*X1 + + dF = ((r2**2)*X1 + (r1**2)*X2) + y*((r2**2)*dX1 + (r1**2)*dX2)\ + - r1*v1*((X1-D1)*dX2 + (dX1-r1*v1)*X2)/C1\ + - (r2**2)*Y*dX1\ + + r2*v2*((X2-D2)*dX1 + (dX2+r2*v2)*X1)/C2 + + return F,dF,X1,X2 + + Sp = list(Sp) + Cp = list(Cp) + Np = list(Np) + + + cell_s_u = start['Vector_x'] + cell_s_v = start['Vector_y'] + cell_e_u = end['Vector_x'] + cell_e_v = end['Vector_y'] + + speed_s = start['speed'][0]*(1000/(60*60)) + speed_e = end['speed'][0]*(1000/(60*60)) + Rd = 6371.*1000 + + + if case == 4: + sgn = 1 + else: + sgn = -1 + + λ=Sp[1]; θ=Cp[1]; ψ=Np[1] + + x = sgn*(Cp[1]-Sp[1])*111.386*1000. + a = -sgn*(Np[1]-Cp[1])*111.386*1000. + Y = sgn*(Np[0]-Sp[0])*111.321*1000*np.cos(Cp[1]*(np.pi/180)) + Su = -sgn*cell_s_v; Sv = sgn*cell_s_u + Nu = -sgn*cell_e_v; Nv = sgn*cell_e_u + y0 = Y/2 + + y = NewtonOptimisationLat(_F,y0,x,a,Y,Su,Sv,Nu,Nv,speed_s,speed_e,Rd,λ,θ,ψ) + + Cp = (Sp[0] + sgn*y/(111.321*1000*np.cos(Cp[1]*(np.pi/180))), + Cp[1]) + + return Cp + + def newton_smooth(self,start,end,case,firstpoint,midpoint,lastpoint): + ''' + Given an adjacent cell pair that are non-diagonal determine the + update to the crossing point/midpoint given the environmental + conditions + + Input: + start (dict) - Dictionary of the start cell information + end (dict) - Dictionary of the end cell information + case (int) - Adjacency case type connecting the two cells + firstpoint (tuple) - First Point (long,lat) + midpoint (tuple) - Midpoint Point (long,lat) + lastpoint (tuple) - Last Point (long,lat) + Return: + midpoint (tuple) - Updated midpoint (long,lat) + + ''' + if abs(case)==2: + midpoint = self._long_case(start,end,case,firstpoint,midpoint,lastpoint) + elif abs(case)==4: + midpoint = self._lat_case(start,end,case,firstpoint,midpoint,lastpoint) + + return midpoint + + + def remove(self,index): + ''' + Removing an adjacent cell pair + + Args: + index - index in the adjacent cell pair list (.ap) to remove the index for + ''' + + self.aps.pop(index) + + def add(self,index,ap_list): + ''' + Adding in a new adjacent cell pair + + Args: + index - the index to add the adjacent cell pair + ap_list - a list of adjacent cell pair objects to add + ''' + for i in range(len(ap_list)): + self.aps.insert(i + index, ap_list[i]) + + + def _neighbour_case(self,cell_a,cell_b,x,case): + ''' + Checks to determine if the crossing point has moved outside the domain + connecting the two cells in the adjacency case + + Args: + cell_a (dict) - Start cell environmental info as dictionary + cell_b (dict) - End cell environmental info as dictionary + x (tuple) - Updated crossing point that could lie outside the connection of the cell boxes (long,lat) + case (int) - Adjacency case type connecting the two cells + + Output + case_a (int or None) - Possible additional case edge relative to start cell to add, if None no edge to add + case_b (int or None) - Possible additional case edge relative to start cell to add, if None no edge to add + + ''' + + # Returning if corner horseshoe case type + if abs(case)==1 or abs(case)==3 or abs(case)==0: + return None,None + elif abs(case) == 2: + # Defining the min and max of the start and end cells + smin = cell_a['cy']-cell_a['dcy'] + smax = cell_a['cy']+cell_a['dcy'] + emin = cell_b['cy']-cell_b['dcy'] + emax = cell_b['cy']+cell_b['dcy'] + + # Defining the global min and max + vmin = np.max([smin,emin]) + vmax = np.min([smax,emax]) + + # Point lies on the boundary connecting up the + #two adjacent cell pairs, the start and end cell. + if (x[1] >= vmin) and (x[1] <= vmax): + return None,None + + # If Start and end cells share an edge for the horseshoe + if (x[1]smax) and (smax==emax): + case_a = -4 + case_b = -4 + return case_a,case_b + + # --- Cases where StartCell is Larger than end Cell --- + if (x[1]>emax) and (smax>emax): + case_a = case + case_b = (-4) + return case_a,case_b + if (x[1]smax) and (smax= vmin) and (x[0] <= vmax): + return None,None + + # If Start and end cells share an edge for the horseshoe + if (x[0]smax) and (smax==emax): + case_a = 2 + case_b = 2 + return case_a,case_b + + # --- Cases where StartCell is Larger than end Cell --- + if (x[0]>emax) and (smax>emax): + case_a = case + case_b = (2) + return case_a,case_b + if (x[0]smax) and (smax 0: + target_a_case = -4 + target_b_case = -2 + if mp_lat_diff < 0: + target_a_case = 2 + target_b_case = 4 + elif case == 3: + if mp_lat_diff > 0: + target_a_case = 2 + target_b_case = -4 + if mp_lat_diff < 0: + target_a_case = 4 + target_b_case = -2 + elif case == -1: + if mp_lat_diff > 0: + target_a_case = -2 + target_b_case = -4 + if mp_lat_diff < 0: + target_a_case = 4 + target_b_case = 2 + elif case == -3: + if mp_lat_diff > 0: + target_a_case = -4 + target_b_case = 2 + if mp_lat_diff < 0: + target_a_case = -2 + target_b_case = 4 + else: + return None,None + + # Determining the additional cell to include + add_indices,add_edges = self._neighbour_cells(cell_a,cell_b,case,target_a_case,target_b_case) + + return add_indices,add_edges + + def dist(self,start_point,end_point): + ''' + Determining the absolute distance between two points using pyproj and the + reference project (default: WGS84) + + Inputs: + start_point (tuple) - Start Point (long,lat) + end_point (tuple) - End Point (long,lat) + Outputs: + distance (float) - Distance between the two points in km + + ''' + sp_lon,sp_lat = start_point + ep_lon,ep_lat = end_point + + distance = np.sqrt(((sp_lon-ep_lon)*(111.321))**2 + ((sp_lat-ep_lat)*(111.386))**2) + + #azimuth1, azimuth2, distance = self._g.inv(sp_lon, sp_lat, ep_lon, ep_lat) + return distance + + + def previous_vs(self,edge_a,edge_b,midpoint_prime): + ''' + For a V-additional case determine if we have already seen this edge added in the + same situation. If a common past has been seen return True, otherwise add this + v-additional case to a global list and return False + + Args: + edge_a (find_edge) - First-edge connecting start cell to new cell + edge_b (find_edge) - First-edge connecting new cell to end cell + midpoint_prime (tuple) - midpoint that triggered the v-additional case addition (long,lat) + + Return: + True if this v-additional case has been seen before, or false if not + + ''' + edge_a_start_index = edge_a.start['id'] + edge_b_start_index = edge_b.start['id'] + edge_a_end_index = edge_a.end['id'] + edge_b_end_index = edge_b.end['id'] + + current_v = [edge_a_start_index,edge_a_end_index, + edge_b_start_index,edge_b_end_index, + midpoint_prime] + + + if len(self.previous_vs_info) == 0: + self.previous_vs_info += [current_v] + return False + + + if current_v[:-1] in np.array(self.previous_vs_info,dtype=object)[:,:-1].tolist(): + previous_vs_info_np = np.array(self.previous_vs_info,dtype=object) + similar_midpoint_primes = previous_vs_info_np[(previous_vs_info_np[:,:-1] == current_v[:-1]).all(axis=1),-1] + + if np.min([self.dist(c,current_v[-1]) for c in similar_midpoint_primes]) <= self.merge_separation: + return True + else: + self.previous_vs_info += [current_v] + return False + + else: + self.previous_vs_info += [current_v] + return False + + + def previous_us(self,edge_a,edge_b,edge_c,midpoint_prime): + ''' + For a U-additional case determine if we have already seen these edges added in the + same situation and the same crossing point. If a common past has been seen return True, + otherwise add this U-additional case to a global list and return False + + Input: + edge_a (find_edge) - First-edge connecting start cell to new cell 1 + edge_b (find_edge) - First-edge connecting new cell 1 to new cell 2 + edge_c (find_edge) - First-edge connecting new cell 2 to end cell + midpoint_prime (tuple) - midpoint that triggered the u-additional case addition (long,lat) + + Return: + True if this U-additional case has been seen before, or false if not + + ''' + + + edge_a_start_index = edge_a.start['id'] + edge_b_start_index = edge_b.start['id'] + edge_c_start_index = edge_c.start['id'] + edge_a_end_index = edge_a.end['id'] + edge_b_end_index = edge_b.end['id'] + edge_c_end_index = edge_c.end['id'] + + current_u = [edge_a_start_index,edge_a_end_index, + edge_b_start_index,edge_b_end_index, + edge_c_start_index,edge_c_end_index, + midpoint_prime] + + + if len(self.previous_us_info) == 0: + self.previous_us_info += [current_u] + return False + + + if current_u[:-1] in np.array(self.previous_us_info,dtype=object)[:,:-1].tolist(): + previous_us_info_np = np.array(self.previous_us_info,dtype=object) + similar_midpoint_primes = previous_us_info_np[(previous_us_info_np[:,:-1] == current_u[:-1]).all(axis=1),-1] + + if np.min([self.dist(c,current_u[-1]) for c in similar_midpoint_primes]) <= self.merge_separation: + return True + else: + self.previous_us_info += [current_u] + return False + + else: + self.previous_us_info += [current_u] + return False + + def previous_diagonals(self,edge_a,edge_b,firstpoint,lastpoint): + ''' + For a diagonal-additional case determine if we have already seen these edges added in the + same situation and the same first and last points. If a common past has been seen return True, + otherwise add an additional case to of the diagonal to the global list and return False + + Input: + edge_a (find_edge) - First-edge connecting start cell to new cell + edge_b (find_edge) - First-edge connecting new cell to end cell + firstpoint (tuple) - firstpoint in the adjacent cell triplet of points (long,lat) + lastpoint (tuple) - lastpoint in the adjacent cell triplet of points (long,lat) + + Return: + True if this diagonal case has been seen before, or false if not + + ''' + + edge_a_start_index = edge_a.start['id'] + edge_b_start_index = edge_b.start['id'] + edge_a_end_index = edge_a.end['id'] + edge_b_end_index = edge_b.end['id'] + + current_diagonal = [edge_a_start_index,edge_a_end_index, + edge_b_start_index,edge_b_end_index, + firstpoint,lastpoint] + + + if len(self.previous_diagonal_info) == 0: + self.previous_diagonal_info += [current_diagonal] + return False + + if current_diagonal[:-2] in np.array(self.previous_diagonal_info,dtype=object)[:,:-2].tolist(): + previous_diagonal_info_np = np.array(self.previous_diagonal_info,dtype=object) + similar_start_end = previous_diagonal_info_np[(previous_diagonal_info_np[:,:-2] == current_diagonal[:-2]).all(axis=1),-2:] + if np.any([self.dist(c[0],current_diagonal[-2]) <= self.merge_separation and self.dist(c[1],current_diagonal[-1]) <= self.merge_separation for c in similar_start_end]): + return True + else: + self.previous_diagonal_info += [current_diagonal] + return False + + else: + self.previous_diagonal_info += [current_diagonal] + return False + + def forward(self): + ''' + Applies inplace this function conducts a forward pass over the adjacent cell pairs, updating the crossing + points between adjacent cell pairs for the given environmental conditions and great-circle characteristics. + This is applied as a forward pass across the path moving out in adjacent cell pairs (triplets of crossing + points with the cell adjacency). + + Key features of forward pass include + reverse edges - Removal of adjacent cell edges that enter and exit a cell on subsequent + iterations. e.g. routes going back on themselves + merging - When two crossing points are close, merge points and determine new + common edge between start and end point + diagonal case - If the middle point is a diagonal edge between cells, introduce a new cell box + dependent on start and end crossing points. If cell is inaccessible 'blocked' then + remain on corner for a later iteration. + + If exact diagonal, with same start and end crossing point, has be seen before + then skip. + + newton smooth - If adjacency is not diagonal then smooth the midpoint crossing point on the boundary given a + horizontal or vertical smoothing. Returns a new midpoint that can either lie on the boundary + between the two cells or outside the boundary + + If lies on the boundary then check if similar to previous seen case of this crossing point + else continue and not converged + + v shaped add - If the crossing point lies outside the boundary in the newton smoothing stage the addition + cell/cells must be included. + + Determine the new edges that need to be included if only a single cell (two edges) then do + a v-shaped addition. If blocked then trim back. If exact v-shaped seen before, with same + midpoint prime and possible edge additions, then skip. If blocked or seen before and crossing + point hasn't changed within converge_sep then the crossing point has converged + + u shaped add - Identical to v-shaped add but now with the addition of 2 cells (3 edges). If blocked then trim back. If exact v-shaped seen before, with same + midpoint prime and possible edge additions, then skip. If blocked or seen before and crossing + point hasn't changed within converge_sep then the crossing point has converged. + + This code should be read relative to the pseudocode outlined in the paper. + https://arxiv.org/pdf/2209.02389 + + ''' + self.jj = 1 + self.previous_aps = [] + converged = False + self.all_aps = [] + self.previous_vs_info = [] + self.previous_us_info = [] + self.previous_diagonal_info = [] + while not converged: + path_length = len(self.aps) + firstpoint = self.start_waypoint + midpoint = None + lastpoint = None + converged = True + + ii=0 + self.jj+=1 + while ii < path_length: + ap = self.aps[ii] + midpoint = ap.crossing + + # Determine the next adjacency pair and the last point + if ii+1 < path_length: + app = self.aps[ii+1] + lastpoint = app.crossing + else: + app = self.aps[ii] + lastpoint = self.end_waypoint + + # Remove the reverse edges + if ap.start['id'] == app.end['id']: + self.remove(ii) + self.remove(ii) + path_length -= 2 + converged = False + continue + + # Merging the first and last point close move to next iteration + if self.dist(firstpoint,midpoint) < self.merge_separation: + firstpoint = midpoint + ii += 1 + continue + + # Merging the mid and last point if separation close, determine new edge for adjacency + if self.dist(midpoint,lastpoint) < self.merge_separation: + start_cell = ap.start + end_cell = app.end + + common_cell = np.where(np.array(start_cell['neighbourIndex']) == end_cell['id'])[0] + if len(common_cell) == 1: + _merge_case = start_cell['case'][np.where(np.array(start_cell['neighbourIndex']) == end_cell['id'])[0][0]] + new_edge = find_edge(start_cell,end_cell,_merge_case) + self.remove(ii) #Removing ap + self.remove(ii) #Removing app + self.add(ii,[new_edge]) + path_length -= 1 + converged = False + continue + + + # Relationship is a diagonal case + if self.diagonal_case(ap.case): + add_indices,add_cases = self.diagonal_select_side(ap.start,ap.end,ap.case,firstpoint,midpoint,lastpoint) + if add_indices is None: + ii += 1 + firstpoint=midpoint + continue + + if len(add_indices) == 1: + target = add_indices[0] + case_a = add_cases[0] + case_b = add_cases[1] + if self.blocked(target,ap.start,ap.end): + ii += 1 + firstpoint=midpoint + continue + else: + edge_a = find_edge(ap.start,target,case_a) + edge_b = find_edge(target,ap.end,case_b) + if self.previous_diagonals(edge_a,edge_b,firstpoint,lastpoint): + ii += 1 + firstpoint=midpoint + continue + self.remove(ii) + self.add(ii,[edge_a,edge_b]) + path_length += 1 + converged = False + continue + + # Updating crossing point + midpoint_prime = self.newton_smooth(ap.start,ap.end,ap.case,firstpoint,midpoint,lastpoint) + if type(midpoint_prime) == type(None) or np.isnan(midpoint_prime[0]) or np.isnan(midpoint_prime[1]): + raise Exception('Newton call failed to converge or recover') + + #Determining if additional cases need to be added + add_indices,add_cases = self.nearest_neighbour(ap.start,ap.end,ap.case,midpoint_prime) + + # No additional cells to add + if add_indices is None: + midpoint_prime = self.clip(ap.start,ap.end,ap.case,midpoint_prime) + if self.dist(midpoint,midpoint_prime) > self.converged_sep: + converged = False + self.aps[ii].crossing = midpoint_prime + ii += 1 + firstpoint = midpoint_prime + continue + + + # Introduction of a v-shape + if len(add_indices) == 1: + target = add_indices[0] + case_a = add_cases[0] + case_b = add_cases[1] + if self.blocked(target,ap.start,ap.end): + midpoint_prime = self.clip(ap.start,ap.end,ap.case,midpoint_prime) + if self.dist(midpoint,midpoint_prime) > self.converged_sep: + converged = False + self.aps[ii].crossing = midpoint_prime + ii += 1 + firstpoint = midpoint_prime + else: + edge_a = find_edge(ap.start,target,case_a) + edge_b = find_edge(target,ap.end,case_b) + + if self.previous_vs(edge_a,edge_b,midpoint_prime): + midpoint_prime = self.clip(ap.start,ap.end,ap.case,midpoint_prime) + if self.dist(midpoint,midpoint_prime) > self.converged_sep: + converged = False + self.aps[ii].crossing = midpoint_prime + ii += 1 + firstpoint = midpoint_prime + else: + self.remove(ii) + self.add(ii,[edge_a,edge_b]) + path_length += 1 + converged = False + + # Introduction of a U-shape + if len(add_indices) == 2: + logging.debug('--- Adding in U-shape ---') + target_a = add_indices[0] + target_b = add_indices[1] + case_a = add_cases[0] + case_b = add_cases[1] + case_c = add_cases[2] + + if not self.blocked(target_a,ap.start,ap.end) and not self.blocked(target_b,ap.start,ap.end): + edge_a = find_edge(ap.start,target_a,case_a) + edge_b = find_edge(target_a,target_b,case_b) + edge_c = find_edge(target_b,ap.end,case_c) + + if self.previous_us(edge_a,edge_b,edge_c,midpoint_prime): + midpoint_prime = self.clip(ap.start,ap.end,ap.case,midpoint_prime) + if self.dist(midpoint,midpoint_prime) > self.converged_sep: + converged = False + self.aps[ii].crossing = midpoint_prime + ii += 1 + firstpoint = midpoint_prime + else: + self.remove(ii) + self.add(ii,[edge_a,edge_b,edge_c]) + path_length += 2 + converged = False + + else: + midpoint_prime = self.clip(ap.start,ap.end,ap.case,midpoint_prime) + if self.dist(midpoint,midpoint_prime) > self.converged_sep: + converged = False + self.aps[ii].crossing = midpoint_prime + ii += 1 + firstpoint = midpoint_prime + + # Early stopping criterion + if self.jj == self.max_iterations: + break + diff --git a/polar_route/dataloaders/factory.py b/polar_route/dataloaders/factory.py index 128b215d..8e55cb3e 100644 --- a/polar_route/dataloaders/factory.py +++ b/polar_route/dataloaders/factory.py @@ -29,8 +29,9 @@ class DataLoaderFactory: ''' Produces initialised DataLoader objects that can be used by the mesh to quickly retrieve values within a boundary. - ''' - def get_dataloader(self, name, bounds, params, min_dp=5): + ''' + @staticmethod + def get_dataloader(name, bounds, params, min_dp=5): ''' Creates appropriate dataloader object based on name @@ -55,14 +56,18 @@ def get_dataloader(self, name, bounds, params, min_dp=5): ''' # Cast name to lowercase to make case insensitive name = name.lower() - # Add default values if they don't exist - params = self.set_default_params(name, params, min_dp) + # Translate 'file' or 'folder' into 'files' key + params = DataLoaderFactory.translate_file_input(params) + + # Add loader name to params + params['dataloader_name'] = name + params['min_dp'] = min_dp dataloader_requirements = { # Scalar 'scalar_csv': (ScalarCSVDataLoader, ['files']), - 'scalar_grf': (ScalarGRFDataLoader, []), - 'binary_grf': (ScalarGRFDataLoader,[]), + 'scalar_grf': (ScalarGRFDataLoader, ['binary']), + 'binary_grf': (ScalarGRFDataLoader,['binary']), 'amsr': (AMSRDataLoader, ['files', 'hemisphere']), 'bsose_sic': (BSOSESeaIceDataLoader, ['files']), 'bsose_depth': (BSOSEDepthDataLoader, ['files']), @@ -73,10 +78,10 @@ def get_dataloader(self, name, bounds, params, min_dp=5): 'thickness': (ThicknessDataLoader, []), 'density': (DensityDataLoader, []), # Scalar - Abstract shapes - 'circle': (ShapeDataLoader, ['shape', 'nx', 'ny', 'radius', 'centre']), - 'square': (ShapeDataLoader, ['shape', 'nx', 'ny', 'side_length', 'centre']), - 'gradient': (ShapeDataLoader, ['shape', 'nx', 'ny', 'vertical']), - 'checkerboard': (ShapeDataLoader, ['shape', 'nx', 'ny', 'gridsize']), + 'circle': (ShapeDataLoader, []), + 'square': (ShapeDataLoader, []), + 'gradient': (ShapeDataLoader, []), + 'checkerboard': (ShapeDataLoader, []), # Vector 'vector_csv': (VectorCSVDataLoader, ['files']), 'vector_grf': (VectorGRFDataLoader, []), @@ -103,166 +108,21 @@ def get_dataloader(self, name, bounds, params, min_dp=5): # Create instance of dataloader return data_loader(bounds, params) - def set_default_params(self, name, params, min_dp): + @staticmethod + def translate_file_input(params): ''' - Set default values for all dataloaders. + Allows flexible file specification in params. Translates 'file' or + 'folder' into 'files' Args: - name (str): - Name of dataloader entry in dataloader_requirements. Used to - specify default parameters for a specific dataloader. params (dict): - Dictionary containing attributes that are required for each - dataloader. - min_dp (int): - Minimum number of datapoints required to return a homogeneity - condition. Passed in here so it can be added to params - - Returns: - (dict): - Dictionary of attributes the dataloader will require, - completed with default values if not provided in config. + Dictionary of parameters written in config ''' - # Save dataloader name in params - params['dataloader_name'] = name - - if 'downsample_factors' not in params: - params['downsample_factors'] = [1,1] - - if 'data_name' not in params: - params['data_name'] = None - - if 'aggregate_type' not in params: - params['aggregate_type'] = 'MEAN' - - if 'min_dp' not in params: - params['min_dp'] = min_dp - - if 'in_proj' not in params: - params['in_proj'] = 'EPSG:4326' - - if 'out_proj' not in params: - params['out_proj'] = 'EPSG:4326' - - if 'x_col' not in params: - params['x_col'] = 'lat' - - if 'y_col' not in params: - params['y_col'] = 'long' - if 'file' in params: params['files'] = [params['file']] + del params['file'] elif 'folder' in params: folder = os.path.join(params['folder'], '') # Adds trailing slash if non-existant params['files'] = sorted(glob(folder+'*')) - - # Set defaults for abstract data generators - if name in ['circle', 'checkerboard', 'gradient']: - params = self.set_default_shape_params(name, params) - - # Set defaults for GRF generators - if name in ['binary_grf', 'scalar_grf', 'vector_grf']: - params = self.set_default_grf_params(name, params) - - return params - - def set_default_shape_params(self, name, params): - ''' - Set default values for abstract shape dataloaders. This function is - seperated out from set_default_params() simply to reduce cognitive - complexity, but is otherwise in the same format. - - Args: - name (str): - Name of shape entry in dataloader_requirements. Used to - specify default parameters for the shape dataloader. - params (dict): - Dictionary containing attributes that are required for the - shape being loaded. - - Returns: - (dict): - Dictionary of attributes the dataloader will require, - completed with default values if not provided in config. - ''' - # Number of datapoints to populate per axis - if 'nx' not in params: - params['nx'] = 101 - if 'ny' not in params: - params['ny'] = 101 - - # Shape of abstract dataset - if 'shape' not in params: - params['shape'] = name - - # Define default circle parameters - if name == 'circle': - if 'radius' not in params: - params['radius'] = 1 - if 'centre' not in params: - params['centre'] = (None, None) - # Define default square parameters - elif name == 'square': - if 'side_length' not in params: - params['side_length'] = 1 - if 'centre' not in params: - params['centre'] = (None, None) - # Define default gradient params - elif name == 'gradient': - if 'vertical' not in params: - params['vertical'] = True - # Define default checkerboard params - elif name == 'checkerboard': - if 'gridsize' not in params: - params['gridsize'] = (1,1) - - - return params - - def set_default_grf_params(self, name, params): - # Params that all GRF dataloaders need - if 'data_name' not in params: - params['data_name'] = 'data' - if 'seed' not in params: - params['seed'] = None - if 'size' not in params: - params['size'] = 512 - if 'alpha' not in params: - params['alpha'] = 3 - # Specific GRF loaders - # If making a mask (e.g. land) - if name == 'binary_grf': - params['binary'] = True - if 'min' not in params: - params['min'] = 0 - if 'max' not in params: - params['max'] = 1 - # If threshold not set, make it average of min/max val - if 'threshold' not in params: - params['threshold'] = 0.5 - # If making a scalar field - elif name == 'scalar_grf': - params['binary'] = False - if 'min' not in params: - params['min'] = -10 - if 'max' not in params: - params['max'] = 10 - # If threshold not set, make it min/max vals - if 'threshold' not in params: - params['threshold'] = [0,1] - if 'multiplier' not in params: - params['multiplier'] = 1 - if 'offset' not in params: - params['offset'] = 0 - # If making a vector field - elif name == 'vector_grf': - if 'min' not in params: - params['min'] = 0 - if 'max' not in params: - params['max'] = 10 - if 'vec_x' not in params: - params['vec_x'] = 'uC' - if 'vec_y' not in params: - params['vec_y'] = 'vC' - + del params['folder'] return params \ No newline at end of file diff --git a/polar_route/dataloaders/scalar/abstract_scalar.py b/polar_route/dataloaders/scalar/abstract_scalar.py index e84cd595..bdb5d3eb 100644 --- a/polar_route/dataloaders/scalar/abstract_scalar.py +++ b/polar_route/dataloaders/scalar/abstract_scalar.py @@ -1,12 +1,14 @@ from polar_route.dataloaders.dataloader_interface import DataLoaderInterface -from pyproj import Transformer, CRS - from abc import abstractmethod +from pyproj import Transformer, CRS + +import logging +import numpy as np import xarray as xr import pandas as pd -import numpy as np -import logging + +from polar_route.utils import round_to_sigfig class ScalarDataLoader(DataLoaderInterface): ''' @@ -33,21 +35,23 @@ def __init__(self, bounds, params): self.data_name (str): Name of scalar variable. Must be the column name if self.data is pd.DataFrame. Must be variable if self.data is xr.Dataset + + Raises: + ValueError: If no data lies within the parsed boundary ''' - logging.info(f"Initialising {params['dataloader_name']} dataloader") - # Translates parameters from config input to desired inputs - params = self.add_params(params) + params = self.add_default_params(params) + logging.info(f"Initialising {params['dataloader_name']} dataloader") # Creates a class attribute for all keys in params for key, val in params.items(): setattr(self, key, val) # Read in and manipulate data to standard form + self.data = self.import_data(bounds) if 'files' in params: - logging.info('\tReading in files:') + logging.info('\tFiles read:') for file in self.files: logging.info(f'\t\t{file}') - self.data = self.import_data(bounds) # If need to downsample data self.data = self.downsample() # If need to reproject data @@ -58,23 +62,35 @@ def __init__(self, bounds, params): x_col = self.x_col, y_col = self.y_col ) - # Cut dataset down to initial boundary - logging.info( - "\tTrimming data to initial boundary: {min} to {max}".format( - min=(bounds.get_lat_min(), bounds.get_long_min()), - max=(bounds.get_lat_max(), bounds.get_long_max()) - )) - self.data = self.trim_datapoints(bounds) - # Get data name from column name if not set in params if self.data_name is None: - logging.debug('- Setting self.data_name from column name') + logging.debug('\tSetting self.data_name from column name') self.data_name = self.get_data_col_name() # or if set in params, set col name to data name else: - logging.debug(f'- Setting data column name to {self.data_name}') + logging.debug(f'\tSetting data column name to {self.data_name}') self.data = self.set_data_col_name(self.data_name) + # Calculate fraction of boundary that data covers + data_coverage = self.calculate_coverage(bounds) + logging.info("\tMercator data range (roughly) covers "+\ + f"{np.round(data_coverage*100,0).astype(int)}% "+\ + "of initial boundary") + # If there's 0 datapoints in the initial boundary, raise ValueError + if data_coverage == 0: + logging.error('\tDataloader has no data in initial region!') + raise ValueError(f"Dataloader {params['dataloader_name']}"+\ + " contains no data within initial region!") + else: + # Cut dataset down to initial boundary + logging.info( + "\tTrimming data to initial boundary: {min} to {max}".format( + min=(bounds.get_lat_min(), bounds.get_long_min()), + max=(bounds.get_lat_max(), bounds.get_long_max()) + )) + + self.data = self.trim_datapoints(bounds) + @abstractmethod def import_data(self, bounds): ''' @@ -95,25 +111,132 @@ def import_data(self, bounds): Downsampling and reprojecting happen in __init__() method ''' pass - - def add_params(self, params): + + def add_default_params(self, params): ''' - Provides option to add parameters before dataloader initialised, - useful for translating params from config to specific default - parameters for dataloader. Does nothing by default, but user can - overload to add to specific dataloader + Set default values for all scalar dataloaders. This function should be + overloaded to include any extra params for a specific dataloader Args: + name (str): + Name of dataloader entry in dataloader_requirements. Used to + specify default parameters for a specific dataloader. params (dict): - Dictionary holding keys and values that will be turned into - object attributes - + Dictionary containing attributes that are required for each + dataloader. + Returns: - dict: - Params dictionary with addition of translated key/value pairs + (dict): + Dictionary of attributes the dataloader will require, + completed with default values if not provided in config. ''' + if 'dataloader_name' not in params: + params['dataloader_name'] = self.__class__.__name__ + + if 'data_name' not in params: + params['data_name'] = None + + if 'downsample_factors' not in params: + params['downsample_factors'] = [1,1] + + if 'aggregate_type' not in params: + params['aggregate_type'] = 'MEAN' + + if 'min_dp' not in params: + params['min_dp'] = 5 + + if 'in_proj' not in params: + params['in_proj'] = 'EPSG:4326' + + if 'out_proj' not in params: + params['out_proj'] = 'EPSG:4326' + + if 'x_col' not in params: + params['x_col'] = 'lat' + + if 'y_col' not in params: + params['y_col'] = 'long' + return params - + + def calculate_coverage(self, bounds, data=None): + """ + Calculates percentage of boundary covered by dataset + + Args: + bounds (Boundary): + Boundary being compared against + data (pd.DataFrame or xr.Dataset): + Dataset with 'lat' and 'long' coordinates. + Extent calculated from min/max of these coordinates. + Defaults to objects internal dataset. + + Returns: + float: + Decimal fraction of boundary covered by the dataset + """ + def calculate_coverage_from_df(bounds, data): + data = data.dropna().reset_index() + # If empty dataframe, 0% coverage + if data.empty: + return 0 + # If no valid coordinates within data range, 0% coverage + elif data.lat.size == 0 or data.long.size == 0: + return 0 + # Otherwise, calculate coverage, assuming rectangular region + # in mercator projection + else: + # Get range of latitude values + data_lat_range = data.lat.max() - data.lat.min() + bounds_lat_range = bounds.get_lat_max() - bounds.get_lat_min() + # Get range of longitude values + data_long_range = data.long.max() - data.long.min() + bounds_long_range = bounds.get_long_max() - bounds.get_long_min() + # Calcualte area of each region + data_area = data_lat_range * data_long_range + bounds_area = bounds_lat_range * bounds_long_range + # If data area completely covers bounds, 100% coverage + if data_area >= bounds_area: + return 1 + # Otherwise return decimal fraction + else: + return data_area / bounds_area + + + def calculate_coverage_from_xr(bounds, data): + # Remove all NaN columns/rows + data = data.dropna(dim="lat", how="all") + data = data.dropna(dim="long", how="all") + # If no valid coordinates within data range, 0% coverage + if data.lat.size == 0 or data.long.size == 0: + return 0 + # Otherwise, calculate coverage, assuming rectangular region + # in mercator projection + else: + # Get range of latitude values + data_lat_range = data.lat.max().item() - data.lat.min().item() + bounds_lat_range = bounds.get_lat_max() - bounds.get_lat_min() + # Get range of longitude values + data_long_range = data.long.max().item() - data.long.min().item() + bounds_long_range = bounds.get_long_max() - bounds.get_long_min() + # Calcualte area of each region + data_area = data_lat_range * data_long_range + bounds_area = bounds_lat_range * bounds_long_range + # If data area completely covers bounds, 100% coverage + if data_area >= bounds_area: + return 1 + # Otherwise return decimal fraction + else: + return data_area / bounds_area + # Use self.data if not no explicit dataset specified + if data is None: + data = self.data + # Calculate data coverage fraction + if type(self.data) == pd.core.frame.DataFrame: + return calculate_coverage_from_df(bounds, data) + elif type(self.data) == xr.core.dataset.Dataset: + return calculate_coverage_from_xr(bounds, data) + def trim_datapoints(self, bounds, data=None): ''' Trims datapoints from self.data within boundary defined by 'bounds'. @@ -128,7 +251,20 @@ def trim_datapoints(self, bounds, data=None): ''' def trim_datapoints_from_df(data, bounds): ''' - Extracts data from a pd.DataFrame + Extracts datapoints from a pd.DataFrame + + Args: + data (pd.DataFrame): Datapoints in dataframe + bounds (Boundary): + Maximum extent of datapoints to include. + Will be cut to extent of spatial boundary + (and temporal if data includes time) + + Returns: + pd.DataFrame: + Trimmed dataset inclusive of spatial upper bound, and + exclusive of spatial lower bound. Inclusive of both + upper and lower time bounds ''' # Mask off any positions not within spatial bounds mask = (data['lat'] > bounds.get_lat_min()) & \ @@ -142,19 +278,38 @@ def trim_datapoints_from_df(data, bounds): # Return column of data from within bounds return data.loc[mask] - + def trim_datapoints_from_xr(data, bounds): ''' - Extracts data from a xr.Dataset + Extracts datapoints from a xr.Dataset + + Args: + data (xr.Dataset): Datapoints in dataframe + bounds (Boundary): + Maximum extent of datapoints to include. + Will be cut to extent of spatial boundary + (and temporal if data includes time) + + Returns: + xr.Dataset: + Trimmed dataset inclusive of spatial upper bound, and + exclusive of spatial lower bound. Inclusive of both + upper and lower time bounds ''' # Select data region within spatial bounds - # TODO make sure boundaries act same as df + # NOTE slice in xarray is inclusive of bounds data = data.sel(lat=slice(bounds.get_lat_min(), bounds.get_lat_max() )) data = data.sel(long=slice(bounds.get_long_min(), bounds.get_long_max())) # Select data region within temporal bounds if time exists as a coordinate if 'time' in data.coords.keys(): data = data.sel(time=slice(bounds.get_time_min(), bounds.get_time_max())) + # Trim off any data on the min boundary to be consistent with df + if bounds.get_lat_min() in data.lat: + data = data.where(data.lat != bounds.get_lat_min(), drop=True) + if bounds.get_long_min() in data.long: + data = data.where(data.long != bounds.get_long_min(), drop=True) + # Return column of data from within bounds return data @@ -167,15 +322,14 @@ def trim_datapoints_from_xr(data, bounds): data.lat.max() <= bounds.get_lat_max() and \ data.long.min() > bounds.get_long_min() and \ data.long.max() <= bounds.get_long_max(): - logging.debug('Data is already trimmed to bounds!') + logging.debug('\tData is already trimmed to bounds!') return data - if type(data) == type(pd.DataFrame()): + if type(data) == pd.core.frame.DataFrame: return trim_datapoints_from_df(data, bounds) - elif type(data) == type(xr.Dataset()): + elif type(data) == xr.core.dataset.Dataset: return trim_datapoints_from_xr(data, bounds) - def get_dp_from_coord(self, long=None, lat=None, return_coords=False): ''' Extracts datapoint from self.data with lat and long specified in kwargs. @@ -192,12 +346,31 @@ def get_dp_from_coord(self, long=None, lat=None, return_coords=False): ''' def get_dp_from_coord_df(data, name, long, lat, return_coords): ''' - Extracts data from a pd.DataFrame + Extracts a singular datapoint from dataframe + + Args: + data (pd.DataFrame): + Dataset to search within + name (str): + Variable name to extract + long (float): + Longitude of datapoint requested + lat (float): + Latitude of datapoint requested + return_coords (bool): + Flag to choose if coords + are returned with the datapoint or not + + Returns: + pd.DataFrame: + Dataframe containing one row with the datapoint + (and coords if requested). If no datapoint found, + returns empty DataFrame. ''' # Mask off any positions not within spatial bounds mask = (data['lat'] == lat) & \ (data['long'] == long) - + # Include lat/long/time if requested if return_coords: columns = list(data.columns) else: columns = [name] @@ -206,7 +379,26 @@ def get_dp_from_coord_df(data, name, long, lat, return_coords): def get_dp_from_coord_xr(data, name, long, lat, return_coords): ''' - Extracts data from a xr.Dataset + Extracts a singular datapoint from xr.Dataset + + Args: + data (xr.Dataset): + Dataset to search within + name (str): + Variable name to extract + long (float): + Longitude of datapoint requested + lat (float): + Latitude of datapoint requested + return_coords (bool): + Flag to choose if coords + are returned with the datapoint or not + + Returns: + pd.DataFrame: + Dataframe containing one row with the datapoint + (and coords if requested). If no datapoint found, + returns empty DataFrame. ''' # Select data region within spatial bounds data = data.sel(lat=lat, long=long) @@ -226,50 +418,11 @@ def get_dp_from_coord_xr(data, name, long, lat, return_coords): if hasattr(self, 'data_name'): data_name = self.data_name else: data_name = self.get_data_col_name() - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return get_dp_from_coord_df(self.data, data_name, long, lat, return_coords) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return get_dp_from_coord_xr(self.data, data_name, long, lat, return_coords) - - def get_datapoints(self, bounds, return_coords=False, data=None): - ''' - Extracts datapoints from self.data within boundary defined by 'bounds'. - self.data can be pd.DataFrame or xr.Dataset - - Args: - bounds (Boundary): Limits of lat/long/time to select data from - return_coords (boolean): - Flag to determine if coordinates are provided for each - datapoint found. Default is False. - - Returns: - pd.DataFrame: - Column of data values within selected region. If return_coords - is true, also returns with coordinate columns - ''' - if data is None: - data = self.data - # Cast to dataframe for output - if type(data) == type(xr.Dataset()): - data = self.trim_datapoints(bounds, data=data) - # Cast to dataframe - data = data.to_dataframe().reset_index().dropna() - - # Trim to boundary specified - data = self.trim_datapoints(bounds, data=data) - - # Retrieve data column name - if hasattr(self, 'data_name'): data_name = self.data_name - else: data_name = self.get_data_col_name() - - # Include lat/long/time if requested - if return_coords: columns = list(data.columns) - else: columns = [data_name] - - - # Return column of data from within bounds - return data[columns] - + def get_value(self, bounds, agg_type=None, skipna=True): ''' Retrieve aggregated value from within bounds @@ -277,46 +430,124 @@ def get_value(self, bounds, agg_type=None, skipna=True): Args: aggregation_type (str): Method of aggregation of datapoints within bounds. Can be upper or lower case. - Accepts 'MIN', 'MAX', 'MEAN', 'MEDIAN', 'STD', 'CLEAR' + Accepts 'MIN', 'MAX', 'MEAN', 'MEDIAN', 'STD', 'COUNT' bounds (Boundary): Boundary object with limits of lat/long skipna (bool): Defines whether to propogate NaN's or not Default = True (ignore's NaN's) Returns: - float: + dict: + {variable (str): aggregated_value (float)} Aggregated value within bounds following aggregation_type Raises: ValueError: aggregation type not in list of available methods ''' + def get_value_from_df(dps, bounds, agg_type, skipna): + ''' + Aggregates a value from a pd.Series. + + Args: + dps (pd.Series): Datapoints within boundary + bounds (Boundary): + Boundary dps was trimmed to. Not used for any calculations, + just the logging.debug message. + agg_type (str): + Method of aggregation for the value, + e.g. agg_type = 'MIN' => min(dps) returned + skipna (bool): + Flag for whether NaN's should be included in aggregation. + + Returns: + np.float64: Aggregated value + ''' + # Skip NaN's if desired + if skipna: dps = dps.dropna() + + logging.debug(f"\t{len(dps)} datapoints found for attribute '{self.data_name}' within bounds '{bounds}'") + # If want the number of datapoints + if agg_type =='COUNT': + return len(dps) + # If no data + elif len(dps) == 0: + return np.nan + # Return float of aggregated value + elif agg_type == 'MIN': + return dps.min(skipna=skipna) + elif agg_type == 'MAX': + return dps.max(skipna=skipna) + elif agg_type == 'MEAN': + return dps.mean(skipna=skipna) + elif agg_type == 'MEDIAN': + return dps.median(skipna=skipna) + elif agg_type == 'STD': + return dps.std(skipna=skipna) + # If aggregation_type not available + else: + raise ValueError(f'Unknown aggregation type {agg_type}') + + + def get_value_from_xr(dps, bounds, agg_type, skipna): + ''' + Aggregates a value from a xr.DataArray. + + Args: + dps (xr.DataArray): Datapoints within boundary + bounds (Boundary): + Boundary dps was trimmed to. Not used for any calculations, + just the logging.debug message. + agg_type (str): + Method of aggregation for the value, + e.g. agg_type = 'MIN' => min(dps) returned + skipna (bool): + Flag for whether NaN's should be included in aggregation. + + Returns: + np.float64: Aggregated value + ''' + # Extract values to be worked on by numpy functions + dps = dps.values + logging.debug(f"\t{len(dps)} datapoints found for attribute '{self.data_name}' within bounds '{bounds}'") + # If want the number of datapoints + if agg_type =='COUNT': + return dps.size + # If no data + elif dps.size == 0: + return np.nan + # Return float of aggregated value + elif agg_type == 'MIN': + if skipna: return np.nanmin(dps) + else: return np.min(dps) + elif agg_type == 'MAX': + if skipna: return np.nanmax(dps) + else: return np.max(dps) + elif agg_type == 'MEAN': + if skipna: return np.nanmean(dps) + else: return np.mean(dps) + elif agg_type == 'MEDIAN': + if skipna: return np.nanmedian(dps) + else: return np.median(dps) + elif agg_type == 'STD': + if skipna: return np.nanstd(dps) + else: return np.std(dps) + # If aggregation_type not available + else: + raise ValueError(f'Unknown aggregation type {agg_type}') + # Set to params if no specific aggregate type specified if agg_type is None: agg_type = self.aggregate_type + # Limit data series to just the data, excluding coords/index - dps = self.get_datapoints(bounds)[self.data_name] - dps = dps.dropna().sort_values() - - # TODO update log to include boundary and data_name - logging.debug(f" {len(dps)} datapoints found for attribute '{self.data_name}' within bounds '{bounds}'") - # If no data - if agg_type =='COUNT': - return {self.data_name: len(dps)} - elif len(dps) == 0: - return {self.data_name: np.nan} - # Return float of aggregated value - elif agg_type == 'MIN': - return {self.data_name :float(dps.min(skipna=skipna))} - elif agg_type == 'MAX': - return {self.data_name :float(dps.max(skipna=skipna))} - elif agg_type == 'MEAN': - return {self.data_name :float(dps.mean(skipna=skipna))} - elif agg_type == 'MEDIAN': - return {self.data_name :float(dps.median(skipna=skipna))} - elif agg_type == 'STD': - return {self.data_name :float(dps.std(skipna=skipna))} - # If aggregation_type not available - else: - raise ValueError(f'Unknown aggregation type {agg_type}') + dps = self.trim_datapoints(bounds)[self.data_name] + + if type(self.data) == pd.core.frame.DataFrame: + value = get_value_from_df(dps, bounds, agg_type, skipna) + elif type(self.data) == xr.core.dataset.Dataset: + value = get_value_from_xr(dps, bounds, agg_type, skipna) + + # Cast to regular float before returning so can be saved in JSON later + return {self.data_name: float(value)} def get_hom_condition(self, bounds, splitting_conds): ''' @@ -352,25 +583,79 @@ def get_hom_condition(self, bounds, splitting_conds): given threshold if between the upper and lower bound ''' - hom_type = "ERR" + def get_hom_condition_from_df(dps, splitting_conds): + ''' + Determined homogeneity condition from pd.Series. + + Args: + dps (pd.Series): + Datapoints to determine homogeneity condition from + splitting_conds (dict): + Key/Value pairs for threshold, upper_bound and lower_bound. + More details in get_hom_condition() docstring + + Returns: + str: + Homogeneity condition of dataset, as described in + get_hom_condition() docstring + ''' + # If not enough datapoints + if len(dps) < self.min_dp: hom_type = "MIN" + # Otherwise, extract the homogeneity condition + else: + # Determine fraction of datapoints over threshold value + num_over_threshold = dps[dps > splitting_conds['threshold']] + frac_over_threshold = num_over_threshold.shape[0]/dps.shape[0] + + # Return homogeneity condition + if frac_over_threshold <= splitting_conds['lower_bound']: hom_type = "CLR" + elif frac_over_threshold >= splitting_conds['upper_bound']: hom_type = "HOM" + else: hom_type = "HET" + + logging.debug(f"\thom_condition for attribute: '{self.data_name}' in bounds:'{bounds}' returned '{hom_type}'") + return hom_type + + def get_hom_condition_from_xr(dps, splitting_conds): + ''' + Determined homogeneity condition from xr.DataArray. + + Args: + dps (xr.DataArray): + Datapoints to determine homogeneity condition from + splitting_conds (dict): + Key/Value pairs for threshold, upper_bound and lower_bound. + More details in get_hom_condition() docstring + + Returns: + str: + Homogeneity condition of dataset, as described in + get_hom_condition() docstring + ''' + if dps.size < self.min_dp: hom_type = "MIN" + else: + # Determine fraction of datapoints over threshold value + num_over_threshold = np.count_nonzero(dps > splitting_conds['threshold']) + frac_over_threshold = num_over_threshold/dps.size + + # Return homogeneity condition + if frac_over_threshold <= splitting_conds['lower_bound']: hom_type = "CLR" + elif frac_over_threshold >= splitting_conds['upper_bound']: hom_type = "HOM" + else: hom_type = "HET" + + logging.debug(f"\thom_condition for attribute: '{self.data_name}' in bounds:'{bounds}' returned '{hom_type}'") + + return hom_type # Retrieve datapoints to analyse - dps = self.get_datapoints(bounds)[self.data_name] - # If not enough datapoints - if len(dps) < self.min_dp: hom_type = "MIN" - # Otherwise, extract the homogeneity condition + dps = self.trim_datapoints(bounds)[self.data_name] + + if type(dps) == pd.core.series.Series: + return get_hom_condition_from_df(dps, splitting_conds) + elif type(dps) == xr.core.dataarray.DataArray: + return get_hom_condition_from_xr(dps, splitting_conds) else: - # Calculate fraction over threshold - num_over_threshold = dps[dps > splitting_conds['threshold']] - frac_over_threshold = num_over_threshold.shape[0]/dps.shape[0] - - # Return homogeneity condition - if frac_over_threshold <= splitting_conds['lower_bound']: hom_type = "CLR" - elif frac_over_threshold >= splitting_conds['upper_bound']: hom_type = "HOM" - else: hom_type = "HET" + raise TypeError(f'Unknown type {type(dps)}') - logging.debug(f"hom_condition for attribute: '{self.data_name}' in bounds:'{bounds}' returned '{hom_type}'") - return hom_type def reproject(self, in_proj='EPSG:4326', out_proj='EPSG:4326', x_col='lat', y_col='long'): @@ -399,7 +684,29 @@ def reproject(self, in_proj='EPSG:4326', out_proj='EPSG:4326', def reproject_df(data, in_proj, out_proj, x_col, y_col): ''' Reprojects a pandas dataframe - ''' + + Args: + data (pd.DataFrame): + Data to reproject, with coordinates x_col, y_col + in_proj (str): + Projection the original dataset is in, as a string + understandable by PyProj (e.g. 'EPSG:3031') + out_proj (str): + Projection desired as output format. Should be always be + Mercator, but doesn't have to be if you desire + (e.g. 'EPSG:4326) + x_col (str): + Coordinate that original dataset includes that will be + projected. Will be replaced with longitude values + y_col (str): + Coordinate that original dataset includes that will be + projected. Will be replaces with latitude values + + Returns: + pd.DataFrame: + Reprojected dataset, with columns 'lat', 'long', + ('time' if in original dataset), and data_name + ''' # Do the reprojection x, y = Transformer\ .from_crs(CRS(in_proj), CRS(out_proj), always_xy=True)\ @@ -414,24 +721,45 @@ def reproject_df(data, in_proj, out_proj, x_col, y_col): def reproject_xr(data, in_proj, out_proj, x_col, y_col): ''' - Reprojects a xarray dataset + Reprojects a xr.Dataset + + Args: + data (xr.Dataset): + Data to reproject, with coordinates x_col, y_col + in_proj (str): + Projection the original dataset is in, as a string + understandable by PyProj (e.g. 'EPSG:3031') + out_proj (str): + Projection desired as output format. Should be always be + Mercator, but doesn't have to be if you desire + (e.g. 'EPSG:4326) + x_col (str): + Coordinate that original dataset includes that will be + projected. Will be replaced with longitude values + y_col (str): + Coordinate that original dataset includes that will be + projected. Will be replaces with latitude values + + Returns: + pd.DataFrame: + Reprojected dataset, with columns 'lat', 'long', + ('time' if in original dataset), and data_name ''' # Cast to dataframe, then reproject using reproject_df # Cannot reproject directly as memory usage skyrockets df = data.to_dataframe().reset_index().dropna() return reproject_df(df, in_proj, out_proj, x_col, y_col) - + # If no reprojection to do if in_proj == out_proj: logging.debug("\tself.reproject() called but don't need to") return self.data else: logging.info(f"\tReprojecting data from {in_proj} to {out_proj}") - # Choose appropriate method of reprojection based on data type - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return reproject_df(self.data, in_proj, out_proj, x_col, y_col) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return reproject_xr(self.data, in_proj, out_proj, x_col, y_col) def downsample(self, agg_type=None): @@ -472,11 +800,11 @@ def downsample_xr(data, ds, agg_type): ''' if agg_type == 'MIN': # Returns min of bin - data = data.coarsen(lat=ds[1], boundary='pad').min() + data = data.coarsen(lat=ds[1],boundary='pad').min() data = data.coarsen(long=ds[0],boundary='pad').min() elif agg_type == 'MAX': # Returns max of bin - data = data.coarsen(lat=ds[1], boundary='pad').max() + data = data.coarsen(lat=ds[1],boundary='pad').max() data = data.coarsen(long=ds[0],boundary='pad').max() elif agg_type == 'MEAN': # Returns mean of bin @@ -503,11 +831,11 @@ def downsample_df(data, ds, agg_type): defeating the purpose ''' logging.warning( - '- Downsampling called on pd.DataFrame! Downsampling a df' \ + '\tDownsampling called on pd.DataFrame! Downsampling a df' \ 'too computationally expensive, returning original df' ) return data - + # Set to params if no specific aggregate type specified if agg_type is None: agg_type = self.aggregate_type @@ -515,14 +843,14 @@ def downsample_df(data, ds, agg_type): # If no downsampling if self.downsample_factors == (1,1) or \ self.downsample_factors == [1,1]: - logging.debug("- self.downsample() called but don't have to") + logging.debug("\tself.downsample() called but don't have to") return self.data else: - logging.info(f"- Downsampling data by {self.downsample_factors}") + logging.info(f"\tDownsampling data by {self.downsample_factors}") # Otherwise, downsample appropriately - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return downsample_df(self.data, self.downsample_factors, agg_type) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return downsample_xr(self.data, self.downsample_factors, agg_type) def get_data_col_name(self): @@ -541,7 +869,15 @@ def get_data_col_name(self): ''' def get_data_name_from_df(data): ''' - Filters out standard columns to extract only data column's name + Filters out standard columns to extract only data column's name + from pd.DataFrame + + Args: + data (pd.DataFrame): + DataFrame with only 'lat', 'long', 'time' and data_name + + Returns: + str: Data name extracted from column head ''' # Store name of data column for future reference columns = data.columns @@ -559,6 +895,13 @@ def get_data_name_from_df(data): def get_data_name_from_xr(data): ''' Extracts variable name directly from xr.Dataset metadata + + Args: + data (xr.Dataset): + Dataset with only one data variable + + Returns: + str: Data name extracted from xarray metadata ''' # Extract data variables from xr.Dataset name = list(data.keys()) @@ -570,11 +913,11 @@ def get_data_name_from_xr(data): ) return name[0] - logging.info(f"- Retrieving data name from {type(self.data)}") + logging.debug(f"\tRetrieving data name from {type(self.data)}") # Choose method of extraction based on data type - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return get_data_name_from_df(self.data) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return get_data_name_from_xr(self.data) def set_data_col_name(self, new_name): @@ -591,20 +934,45 @@ def set_data_col_name(self, new_name): def set_name_df(data, old_name, new_name): ''' Renames data column in pandas dataframe + + Args: + data (pd.DataFrame): + DataFrame that has old_name as one of column names + old_name (str): + Old column name to replace + new_name (str): + New column name after replacing + + Returns: + pd.DataFrame: + DataFrame with old_name replaced by new_name ''' # Rename data column to new name return data.rename(columns={old_name: new_name}) def set_name_xr(data, old_name, new_name): ''' Renames data variable in xarray dataset + + Args: + data (xr.Dataset): + Dataset that has old_name as data variable name + old_name (str): + Old data_variable name to replace + new_name (str): + New data_variable name after replacing + + Returns: + xr.Dataset: + Dataset with old_name replaced by new_name ''' # Rename data variable to new name return data.rename({old_name: new_name}) old_name = self.get_data_col_name() - logging.info(f"- Changing data name from {old_name} to {new_name}") + if old_name != new_name: + logging.info(f"\tChanging data name from {old_name} to {new_name}") # Change data name depending on data type - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return set_name_df(self.data, old_name, new_name) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return set_name_xr(self.data, old_name, new_name) diff --git a/polar_route/dataloaders/scalar/amsr.py b/polar_route/dataloaders/scalar/amsr.py index b6c8c316..ba5c73e1 100644 --- a/polar_route/dataloaders/scalar/amsr.py +++ b/polar_route/dataloaders/scalar/amsr.py @@ -1,10 +1,11 @@ from polar_route.dataloaders.scalar.abstract_scalar import ScalarDataLoader from datetime import datetime +import logging import xarray as xr class AMSRDataLoader(ScalarDataLoader): - def add_params(self, params): + def add_default_params(self, params): ''' Translates 'hemisphere' parameter into values of in_proj and out_proj that pyProj can understand. Also defines x_col and y_col for AMSR data @@ -19,6 +20,8 @@ def add_params(self, params): dict: Params dictionary with addition of translated key/value pairs ''' + # Set default parameters same as all other scalar dataloaders + params = super().add_default_params(params) # Translate 'hemisphere' into initial projection hemisphere = params['hemisphere'].lower() if hemisphere == 'north': @@ -68,6 +71,7 @@ def retrieve_data(filename, date): return data data_array = [] + relevant_files = [] # For each file found from config for file in self.files: # If date within boundary @@ -78,13 +82,21 @@ def retrieve_data(filename, date): datetime.strptime(date, '%Y-%m-%d') <= \ datetime.strptime(bounds.get_time_max(), '%Y-%m-%d'): data_array.append(retrieve_data(file, date)) + relevant_files += [file] # Concat all valid files + if len(data_array) == 0: + logging.error('\tNo files found for date range '+\ + f'[ {bounds.get_time_min()} : {bounds.get_time_max()} ]') + raise FileNotFoundError('No AMSR files found within specified time range!') data = xr.concat(data_array,'time') # Remove unnecessary column, rename data column data = data.drop_vars('polar_stereographic') data = data.rename({'z': 'SIC'}) + # Limit self.files to only those actually used + self.files = relevant_files + # TODO Limit data range before reprojection return data diff --git a/polar_route/dataloaders/scalar/baltic_sea_ice.py b/polar_route/dataloaders/scalar/baltic_sea_ice.py index e3831936..7212ab75 100644 --- a/polar_route/dataloaders/scalar/baltic_sea_ice.py +++ b/polar_route/dataloaders/scalar/baltic_sea_ice.py @@ -18,7 +18,8 @@ def import_data(self, bounds): Dataset has coordinates 'lat', 'long', and variable 'SIC' ''' # Open Dataset - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column names data = data.rename({'ice_concentration': 'SIC', 'lon': 'long'}) diff --git a/polar_route/dataloaders/scalar/bsose_depth.py b/polar_route/dataloaders/scalar/bsose_depth.py index 2f60114d..5eb054b9 100644 --- a/polar_route/dataloaders/scalar/bsose_depth.py +++ b/polar_route/dataloaders/scalar/bsose_depth.py @@ -18,7 +18,8 @@ def import_data(self, bounds): Dataset has coordinates 'lat', 'long', and variable 'elevation' ''' # Open Dataset - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column names data = data.rename({'Depth': 'elevation', 'YC': 'lat', diff --git a/polar_route/dataloaders/scalar/bsose_sea_ice.py b/polar_route/dataloaders/scalar/bsose_sea_ice.py index fdd5b6f1..c7cc032a 100644 --- a/polar_route/dataloaders/scalar/bsose_sea_ice.py +++ b/polar_route/dataloaders/scalar/bsose_sea_ice.py @@ -26,7 +26,8 @@ def import_data(self, bounds): ''' logging.info(f"- Opening file {self.file}") # Open Dataset - data = xr.open_mfdataset(self.file) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column names data = data.rename({'SIarea': 'SIC', 'YC': 'lat', diff --git a/polar_route/dataloaders/scalar/gebco.py b/polar_route/dataloaders/scalar/gebco.py index de951c7e..838fff21 100644 --- a/polar_route/dataloaders/scalar/gebco.py +++ b/polar_route/dataloaders/scalar/gebco.py @@ -18,7 +18,8 @@ def import_data(self, bounds): Dataset has coordinates 'lat', 'long', and variable 'elevation' ''' # Import data from files defined in config - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Rename columns to standard format data = data.rename({'lon':'long'}) # Trim to initial datapoints diff --git a/polar_route/dataloaders/scalar/icenet.py b/polar_route/dataloaders/scalar/icenet.py index 8aa058bb..0796e588 100644 --- a/polar_route/dataloaders/scalar/icenet.py +++ b/polar_route/dataloaders/scalar/icenet.py @@ -65,7 +65,7 @@ def import_data(self, bounds): break except: # Error thrown, date not in dataset. Try previous day - logging.debug(f' - Unable to select start day of {start_time} for IceNet, trying previous day') + logging.debug(f'\tUnable to select start day of {start_time} for IceNet, trying previous day') continue else: # If ran through entire dataset with no valid dates diff --git a/polar_route/dataloaders/scalar/modis.py b/polar_route/dataloaders/scalar/modis.py index 80fdc0e9..92cc2109 100644 --- a/polar_route/dataloaders/scalar/modis.py +++ b/polar_route/dataloaders/scalar/modis.py @@ -20,7 +20,8 @@ def import_data(self, bounds): ''' logging.info(f"- Opening file {self.file}") # Open Dataset - data = xr.open_mfdataset(self.file) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column name data = data.rename({'iceArea': 'SIC'}) diff --git a/polar_route/dataloaders/scalar/scalar_csv.py b/polar_route/dataloaders/scalar/scalar_csv.py index f3e7cca7..bd6d39eb 100644 --- a/polar_route/dataloaders/scalar/scalar_csv.py +++ b/polar_route/dataloaders/scalar/scalar_csv.py @@ -1,6 +1,6 @@ from polar_route.dataloaders.scalar.abstract_scalar import ScalarDataLoader -import dask as dd +import pandas as pd class ScalarCSVDataLoader(ScalarDataLoader): def import_data(self, bounds): @@ -17,7 +17,11 @@ def import_data(self, bounds): and variable defined by column heading in csv file ''' # Read in data - data = dd.read_csv(self.files) + df_list = [] + # NOTE: All csv files must have same columns for this to work + for file in self.files: + df_list += [pd.read_csv(file)] + data = pd.concat(df_list) # Trim to initial datapoints data = self.trim_datapoints(bounds, data=data) diff --git a/polar_route/dataloaders/scalar/scalar_grf.py b/polar_route/dataloaders/scalar/scalar_grf.py index 334c996f..1219c1d2 100644 --- a/polar_route/dataloaders/scalar/scalar_grf.py +++ b/polar_route/dataloaders/scalar/scalar_grf.py @@ -6,6 +6,62 @@ import numpy as np class ScalarGRFDataLoader(ScalarDataLoader): + + def add_default_params(self, params): + ''' + Set default values for abstract GRF dataloaders, starting by + including defaults for scalar dataloaders. + + Args: + params (dict): + Dictionary containing attributes that are required for the + shape being loaded. Must include 'shape'. + + Returns: + (dict): + Dictionary of attributes the dataloader will require, + completed with default values if not provided in config. + ''' + params = super().add_default_params(params) + + # Params that all GRF dataloaders need + if 'seed' not in params: + params['seed'] = None + if 'size' not in params: + params['size'] = 512 + if 'alpha' not in params: + params['alpha'] = 3 + + # Set defaults for binary GRF + if params['binary'] == True: + if params['data_name'] is None: + params['data_name'] = 'binary_data' + if 'min' not in params: + params['min'] = 0 + if 'max' not in params: + params['max'] = 1 + # If threshold not set, make it average of min/max val + if 'threshold' not in params: + params['threshold'] = 0.5 + # Set defaults for smooth scalar GRF + else: + if params['data_name'] is None: + params['data_name'] = 'scalar_data' + if 'min' not in params: + params['min'] = -10 + if 'max' not in params: + params['max'] = 10 + # If threshold not set, make it min/max vals + if 'threshold' not in params: + params['threshold'] = [0,1] + if 'multiplier' not in params: + params['multiplier'] = 1 + if 'offset' not in params: + params['offset'] = 0 + + return params + + def import_data(self, bounds): ''' Creates data in the form of a Gaussian Random Field diff --git a/polar_route/dataloaders/scalar/shape.py b/polar_route/dataloaders/scalar/shape.py index e71357cf..9d105926 100644 --- a/polar_route/dataloaders/scalar/shape.py +++ b/polar_route/dataloaders/scalar/shape.py @@ -5,6 +5,55 @@ import numpy as np class ShapeDataLoader(ScalarDataLoader): + + def add_default_params(self, params): + ''' + Set default values for abstract shape dataloaders, starting by + including defaults for scalar dataloaders. + + Args: + params (dict): + Dictionary containing attributes that are required for the + shape being loaded. Must include 'shape'. + + Returns: + (dict): + Dictionary of attributes the dataloader will require, + completed with default values if not provided in config. + ''' + # Add default scalar params + params = super().add_default_params(params) + + # Number of datapoints to populate per axis + if 'nx' not in params: + params['nx'] = 101 + if 'ny' not in params: + params['ny'] = 101 + + # Define default circle parameters + if params['dataloader_name'] == 'circle': + if 'radius' not in params: + params['radius'] = 1 + if 'centre' not in params: + params['centre'] = (None, None) + # Define default square parameters + elif params['dataloader_name'] == 'square': + if 'side_length' not in params: + params['side_length'] = 1 + if 'centre' not in params: + params['centre'] = (None, None) + # Define default gradient params + elif params['dataloader_name'] == 'gradient': + if 'vertical' not in params: + params['vertical'] = True + # Define default checkerboard params + elif params['dataloader_name'] == 'checkerboard': + if 'gridsize' not in params: + params['gridsize'] = (1,1) + + return params + + def import_data(self, bounds): ''' Generates data in the form of an abstract shape, such as circle, @@ -21,18 +70,20 @@ def import_data(self, bounds): 'dummy_data' (by default) ''' # TODO Move self.lat/long = np.linspace here after reg tests pass - # Choose appropriate shape to generate - if self.shape == 'circle': + + # Generate abstract data set + if self.dataloader_name == 'circle': data = self.gen_circle(bounds) - elif self.shape == 'checkerboard': + elif self.dataloader_name == 'checkerboard': data = self.gen_checkerboard(bounds) - elif self.shape == 'gradient': + elif self.dataloader_name == 'gradient': data = self.gen_gradient(bounds) - - # Fill dummy time values - data['time'] = bounds.get_time_min() + else: + raise ValueError( + f'Unknown abstract shape type: {self.dataloader_name}' + ) - data_xr = data.set_index(['lat', 'long', 'time']).to_xarray() + data_xr = data.set_index(['lat', 'long']).to_xarray() # No need to trim data, as was defined by bounds return data_xr diff --git a/polar_route/dataloaders/vector/abstract_vector.py b/polar_route/dataloaders/vector/abstract_vector.py index c556acef..08909d60 100644 --- a/polar_route/dataloaders/vector/abstract_vector.py +++ b/polar_route/dataloaders/vector/abstract_vector.py @@ -8,6 +8,9 @@ import xarray as xr import pandas as pd +from polar_route.utils import round_to_sigfig + + class VectorDataLoader(DataLoaderInterface): ''' Abstract class for all vector Datasets. @@ -34,20 +37,19 @@ def __init__(self, bounds, params): Name of scalar variable. Must be the column name if self.data is pd.DataFrame. Must be variable if self.data is xr.Dataset ''' - print(f"Initialising {params['dataloader_name']} dataloader") - # Translates parameters from config input to desired inputs - params = self.add_params(params) + params = self.add_default_params(params) + logging.info(f"Initialising {params['dataloader_name']} dataloader") # Creates a class attribute for all keys in params for key, val in params.items(): setattr(self, key, val) + self.data = self.import_data(bounds) # Read in and manipulate data to standard form if 'files' in params: - logging.info('\tReading in files:') + logging.info('\tFiles read:') for file in self.files: logging.info(f'\t\t{file}') - self.data = self.import_data(bounds) # If need to downsample data self.data = self.downsample() # If need to reproject data @@ -58,22 +60,40 @@ def __init__(self, bounds, params): x_col = self.x_col, y_col = self.y_col ) - # Cut dataset down to initial boundary - logging.info( - "\tTrimming data to initial boundary: {min} to {max}".format( - min=(bounds.get_lat_min(), bounds.get_long_min()), - max=(bounds.get_lat_max(), bounds.get_long_max()) - )) - self.data = self.trim_datapoints(bounds) # Get data name from column name if not set in params if self.data_name is None: - logging.debug('- Setting self.data_name from column name') + logging.debug('\tSetting self.data_name from column name') self.data_name = self.get_data_col_name() # or if set in params, set col name to data name else: - logging.debug(f'- Setting data column name to {self.data_name}') - self.data = self.set_data_col_name(self.data_name) + logging.debug(f'\tSetting data column name to {self.data_name}') + self.data = self.set_data_col_name(self.data_name.split(',')) + # Store data names in a list for easier access in future + self.data_name_list = self.data_name.split(',') + + # Add magnitude and direction to dataset + self.data = self.add_mag_dir() + + # Calculate fraction of boundary that data covers + data_coverage = self.calculate_coverage(bounds) + logging.info("\tMercator data range (roughly) covers "+\ + f"{np.round(data_coverage*100,0).astype(int)}% "+\ + "of initial boundary") + # If there's 0 datapoints in the initial boundary, raise ValueError + if data_coverage == 0: + logging.error('\tDataloader has no data in initial region!') + raise ValueError(f"Dataloader {params['dataloader_name']}"+\ + " contains no data within initial region!") + else: + # Cut dataset down to initial boundary + logging.info( + "\tTrimming data to initial boundary: {min} to {max}".format( + min=(bounds.get_lat_min(), bounds.get_long_min()), + max=(bounds.get_lat_max(), bounds.get_long_max()) + )) + + self.data = self.trim_datapoints(bounds) @abstractmethod def import_data(self, bounds): @@ -96,23 +116,196 @@ def import_data(self, bounds): ''' pass - def add_params(self, params): + def add_default_params(self, params): ''' - Provides option to add parameters before dataloader initialised, - useful for translating params from config to specific default - parameters for dataloader. Does nothing by default, but user can - overload to add to specific dataloader + Set default values for all scalar dataloaders. This function should be + overloaded to include any extra params for a specific dataloader Args: + name (str): + Name of dataloader entry in dataloader_requirements. Used to + specify default parameters for a specific dataloader. params (dict): - Dictionary holding keys and values that will be turned into - object attributes - + Dictionary containing attributes that are required for each + dataloader. + Returns: - dict: - Params dictionary with addition of translated key/value pairs + (dict): + Dictionary of attributes the dataloader will require, + completed with default values if not provided in config. ''' + # This should only pop up if using dataloader not in the factory + if 'dataloader_name' not in params: + params['dataloader_name'] = self.__class__.__name__ + + if 'data_name' not in params: + params['data_name'] = None + + if 'downsample_factors' not in params: + params['downsample_factors'] = [1,1] + + if 'aggregate_type' not in params: + params['aggregate_type'] = 'MEAN' + + if 'min_dp' not in params: + params['min_dp'] = 5 + + if 'in_proj' not in params: + params['in_proj'] = 'EPSG:4326' + + if 'out_proj' not in params: + params['out_proj'] = 'EPSG:4326' + + if 'x_col' not in params: + params['x_col'] = 'lat' + + if 'y_col' not in params: + params['y_col'] = 'long' + return params + + def add_mag_dir(self, data=None, data_names=None): + ''' + Adds magnitude and direction variables/columns to data for easier + retrieval of value + + Args: + data (pd.DataFrame or xr.Dataset): + Data with 'lat' and 'long' columns/dimensions. Assumes that the + existing data is in cartesian form (x and y components). + If None, will use self.data + data_names (list): + List of data columns/variables to use in calculation + If None, will use self.data_name_list + + Returns: + data (pd.DataFrame or xr.Dataset): + Original dataset with two new columns/variables called + '_magnitude' and '_direction', containing the corresponding + values for each. + ''' + + def add_mag_dir_to_df(data, names): + ''' + Adds magnitude and direction columns to pd.DataFrame + + Args: + Same as parent method + + Returns: + Same as parent method + ''' + x, y = names + data['_magnitude'] = np.linalg.norm([data[x], data[y]], axis=0) + data['_direction'] = np.arctan(data[y] / data[x]) + return data + + def add_mag_dir_to_xr(data, names): + ''' + Adds magnitude and direction columns to xr.Dataset + + Args: + Same as parent method + + Returns: + Same as parent method + ''' + x, y = names + data['_magnitude'] = (data.dims, + np.linalg.norm([data[x].data, data[y].data], + axis=0)) + data['_direction'] = (data.dims, + np.arctan(data[y].data / data[x].data)) + return data + + # Set defaults if not passed to method + if data is None: data = self.data + if data_names is None: names = self.data_name_list + + # Perform operation on appropriate datatype + if type(data) == pd.core.frame.DataFrame: + return add_mag_dir_to_df(data, names) + elif type(data) == xr.core.dataset.Dataset: + return add_mag_dir_to_xr(data, names) + + def calculate_coverage(self, bounds, data=None): + """ + Calculates percentage of boundary covered by dataset + + Args: + bounds (Boundary): + Boundary being compared against + data (pd.DataFrame or xr.Dataset): + Dataset with 'lat' and 'long' coordinates. + Extent calculated from min/max of these coordinates. + Defaults to objects internal dataset. + + Returns: + float: + Decimal fraction of boundary covered by the dataset + """ + def calculate_coverage_from_df(bounds, data): + data = data.dropna().reset_index() + # If empty dataframe, 0% coverage + if data.empty: + return 0 + # If no valid coordinates within data range, 0% coverage + elif data.lat.size == 0 or data.long.size == 0: + return 0 + # Otherwise, calculate coverage, assuming rectangular region + # in mercator projection + else: + # Get range of latitude values + data_lat_range = data.lat.max() - data.lat.min() + bounds_lat_range = bounds.get_lat_max() - bounds.get_lat_min() + # Get range of longitude values + data_long_range = data.long.max() - data.long.min() + bounds_long_range = bounds.get_long_max() - bounds.get_long_min() + # Calcualte area of each region + data_area = data_lat_range * data_long_range + bounds_area = bounds_lat_range * bounds_long_range + # If data area completely covers bounds, 100% coverage + if data_area >= bounds_area: + return 1 + # Otherwise return decimal fraction + else: + return data_area / bounds_area + + + def calculate_coverage_from_xr(bounds, data): + # Remove all NaN columns/rows + data = data.dropna(dim="lat", how="all") + data = data.dropna(dim="long", how="all") + + # If no valid coordinates within data range, 0% coverage + if data.lat.size == 0 or data.long.size == 0: + return 0 + # Otherwise, calculate coverage, assuming rectangular region + # in mercator projection + else: + # Get range of latitude values + data_lat_range = data.lat.max().item() - data.lat.min().item() + bounds_lat_range = bounds.get_lat_max() - bounds.get_lat_min() + # Get range of longitude values + data_long_range = data.long.max().item() - data.long.min().item() + bounds_long_range = bounds.get_long_max() - bounds.get_long_min() + # Calcualte area of each region + data_area = data_lat_range * data_long_range + bounds_area = bounds_lat_range * bounds_long_range + # If data area completely covers bounds, 100% coverage + if data_area >= bounds_area: + return 1 + # Otherwise return decimal fraction + else: + return data_area / bounds_area + # Use self.data if not no explicit dataset specified + if data is None: + data = self.data + # Calculate data coverage fraction + if type(self.data) == pd.core.frame.DataFrame: + return calculate_coverage_from_df(bounds, data) + elif type(self.data) == xr.core.dataset.Dataset: + return calculate_coverage_from_xr(bounds, data) def trim_datapoints(self, bounds, data=None): ''' @@ -142,39 +335,46 @@ def trim_datapoints_from_df(data, bounds): # Return column of data from within bounds return data.loc[mask] - + def trim_datapoints_from_xr(data, bounds): ''' Extracts data from a xr.Dataset ''' + # Select data region within spatial bounds - # TODO make sure boundaries act same as df + # NOTE slice in xarray is inclusive of bounds data = data.sel(lat=slice(bounds.get_lat_min(), bounds.get_lat_max() )) data = data.sel(long=slice(bounds.get_long_min(), bounds.get_long_max())) # Select data region within temporal bounds if time exists as a coordinate if 'time' in data.coords.keys(): data = data.sel(time=slice(bounds.get_time_min(), bounds.get_time_max())) + # Trim off any data on the min boundary to be consistent with df + if bounds.get_lat_min() in data.lat: + data = data.where(data.lat != bounds.get_lat_min(), drop=True) + if bounds.get_long_min() in data.long: + data = data.where(data.long != bounds.get_long_min(), drop=True) + # Return column of data from within bounds return data # If no specific data passed in, default to entire dataset if data is None: data = self.data - + # Skip trimming if data already completely within bounds if data.lat.min() > bounds.get_lat_min() and \ data.lat.max() <= bounds.get_lat_max() and \ data.long.min() > bounds.get_long_min() and \ data.long.max() <= bounds.get_long_max(): - logging.debug('Data is already trimmed to bounds!') + logging.debug('\tData is already trimmed to bounds!') return data - if type(data) == type(pd.DataFrame()): + if type(data) == pd.core.frame.DataFrame: return trim_datapoints_from_df(data, bounds) - elif type(data) == type(xr.Dataset()): + elif type(data) == xr.core.dataset.Dataset: return trim_datapoints_from_xr(data, bounds) - + def get_dp_from_coord(self, long=None, lat=None, return_coords=False): ''' Extracts datapoint from self.data with lat and long specified in kwargs. @@ -186,7 +386,7 @@ def get_dp_from_coord(self, long=None, lat=None, return_coords=False): lat (float) : Latitude coordinate to search for Returns: - pd.Series: + pd.Dataframe: Column of data values with chosen lat/long. Could be many datapoints because either bad data or multiple time steps ''' @@ -200,7 +400,7 @@ def get_dp_from_coord_df(data, names, long, lat, return_coords): # Include lat/long/time if requested if return_coords: columns = list(data.columns) - else: columns = [names.split(',')] + else: columns = names # Return column of data from within bounds return data.loc[mask][columns] @@ -214,7 +414,7 @@ def get_dp_from_coord_xr(data, names, long, lat, return_coords): data = data.to_dataframe().reset_index() # Include lat/long/time if requested if return_coords: columns = list(data.columns) - else: columns = [names.split(',')] + else: columns = names # Return column of data from within bounds return data[columns] @@ -223,54 +423,11 @@ def get_dp_from_coord_xr(data, names, long, lat, return_coords): 'Must provide lat and long to this method!' # Choose which method to retrieve data based on input type - if hasattr(self, 'data_name'): data_name = self.data_name - else: data_name = self.get_data_col_name() - - if type(self.data) == type(pd.DataFrame()): - return get_dp_from_coord_df(self.data, data_name, long, lat, return_coords) - elif type(self.data) == type(xr.Dataset()): - return get_dp_from_coord_xr(self.data, data_name, long, lat, return_coords) - - - def get_datapoints(self, bounds, return_coords=False, data=None): - ''' - Extracts datapoints from self.data within boundary defined by 'bounds'. - self.data can be pd.DataFrame or xr.Dataset - - Args: - bounds (Boundary): Limits of lat/long/time to select data from - return_coords (boolean): - Flag to determine if coordinates are provided for each - datapoint found. Default is False. - - Returns: - pd.DataFrame: - Column of data values within selected region. If return_coords - is true, also returns with coordinate columns - ''' - if data is None: - data = self.data - # Cast to dataframe for output - if type(data) == type(xr.Dataset()): - data = self.trim_datapoints(bounds, data=data) - # Cast to dataframe - data = data.to_dataframe().reset_index().dropna() - - # Trim to boundary specified - data = self.trim_datapoints(bounds, data=data) - - # Retrieve data column name - if hasattr(self, 'data_name'): data_name = self.data_name - else: data_name = self.get_data_col_name() - - # Include lat/long/time if requested - if return_coords: columns = list(data.columns) - else: columns = data_name.split(',') - - - # Return column of data from within bounds - return data[columns] - + if type(self.data) == pd.core.frame.DataFrame: + return get_dp_from_coord_df(self.data, self.data_name_list, long, lat, return_coords) + elif type(self.data) == xr.core.dataset.Dataset: + return get_dp_from_coord_xr(self.data, self.data_name_list, long, lat, return_coords) + def get_value(self, bounds, agg_type=None, skipna=True): ''' Retrieve aggregated value from within bounds @@ -278,81 +435,141 @@ def get_value(self, bounds, agg_type=None, skipna=True): Args: aggregation_type (str): Method of aggregation of datapoints within bounds. Can be upper or lower case. - Accepts 'MIN', 'MAX', 'MEAN', 'STD' - Errors on 'MEDIAN' since nonsensical for 2D vectors + Accepts 'MIN', 'MAX', 'MEAN', 'MEDIAN', 'STD', 'COUNT' bounds (Boundary): Boundary object with limits of lat/long skipna (bool): Defines whether to propogate NaN's or not Default = True (ignore's NaN's) Returns: - float: + dict: + {variable (str): aggregated_value (float)} Aggregated value within bounds following aggregation_type Raises: - ValueError: aggregation type 'MEDIAN' not valid for vectors ValueError: aggregation type not in list of available methods ''' - def extract_vals(row, col_vars): - ''' - Extracts column variable values from a row, returns them in a - dictionary {variable: value} - ''' - # Initialise empty dictionary - values = {} - # For each variable - for col in col_vars: - # If there isn't a row (i.e. no data), value is NaN - if row == None: - values[col] = np.nan - # Otherwise, extract value from row - else: - values[col] = row[col] + def get_value_from_df(dps, variable_names, bounds, agg_type, skipna): + ''' + Aggregates a value from a pd.Series. + + Args: + dps (pd.Series): Datapoints within boundary + bounds (Boundary): + Boundary dps was trimmed to. Not used for any calculations, + just the logging.debug message. + agg_type (str): + Method of aggregation for the value, + e.g. agg_type = 'MIN' => min(dps) returned + skipna (bool): + Flag for whether NaN's should be included in aggregation. + + Returns: + np.float64: Aggregated value + ''' + data_count = len(dps) + logging.debug(f"\t{data_count} datapoints found for attribute '{self.data_name}' within bounds '{bounds}'") + # If no data + if data_count == 0: + values = [np.nan, np.nan] + # If want the number of datapoints + elif agg_type =='COUNT': + values = [data_count, data_count] + elif agg_type == 'MIN': + index = dps['_magnitude'].idxmin(skipna=skipna) + values = [dps[name][index] for name in variable_names] + elif agg_type == 'MAX': + index = dps['_magnitude'].idxmax(skipna=skipna) + values = [dps[name][index] for name in variable_names] + elif agg_type == 'MEAN': + values = [dps[name].mean(skipna=skipna) for name in variable_names] + elif agg_type == 'STD': + values = [dps[name].std(skipna=skipna) for name in variable_names] + elif agg_type == 'MEDIAN': + raise ValueError('Aggregation type "MEDIAN" is non-sensical for vector dataset!') + else: + raise ValueError(f'Unknown aggregation type {agg_type}') + + return values + + + def get_value_from_xr(dps, variable_names, bounds, agg_type, skipna): + ''' + Aggregates a value from a xr.DataArray. + + Args: + dps (xr.DataArray): Datapoints within boundary + bounds (Boundary): + Boundary dps was trimmed to. Not used for any calculations, + just the logging.debug message. + agg_type (str): + Method of aggregation for the value, + e.g. agg_type = 'MIN' => min(dps) returned + skipna (bool): + Flag for whether NaN's should be included in aggregation. + + Returns: + dict: + {variable_name: np.float64}: Aggregated value in a dictionary + ''' + # Info on size of array + data_count = dps._magnitude.size + logging.debug(f"\t{data_count} datapoints found for attribute '{self.data_name}' within bounds '{bounds}'") + # If no data, return np.nan for each variable + if data_count == 0: + values = [np.nan, np.nan] + # If want count + elif agg_type == 'COUNT': + # If including nan's, just want size + if skipna: + values = [data_count, data_count] + # Otherwise count non-nan values + else: + values = [dps[name].count().item() for name in variable_names] + elif agg_type == 'MIN': + # Get 2D index of minimum magnitude point + index = np.unravel_index( + dps._magnitude.argmin(skipna=skipna), + dps._magnitude.shape) + # Get cartesian vector from index + values = [dps[name][index].item() for name in variable_names] + elif agg_type == 'MAX': + # Get 2D index of minimum magnitude point + index = np.unravel_index( + dps._magnitude.argmax(skipna=skipna), + dps._magnitude.shape) + # Get cartesian vector from index + values = [dps[name][index].item() for name in variable_names] + # And the rest self explanatory + elif agg_type == 'MEAN': + values = [dps[name].mean(skipna=skipna).item() for name in variable_names] + elif agg_type == 'STD': + values = [dps[name].std(skipna=skipna).item() for name in variable_names] + elif agg_type == 'MEDIAN': + raise ValueError('Aggregation type "MEDIAN" is non-sensical for vector dataset!') + else: + raise ValueError(f'Unknown aggregation type {agg_type}') + return values + + # Set to params if no specific aggregate type specified if agg_type is None: agg_type = self.aggregate_type - # Get list of variables that aren't coords - col_vars = self.get_data_col_name().split(',') - # Remove lat, long and time column if they exist - dps = self.get_datapoints(bounds)[col_vars] - # Create a magnitude column - dps['mag'] = np.sqrt(np.square(dps).sum(axis=1)) - - # If no data - if len(dps) == 0: - row = {col: np.nan for col in col_vars} - # Return float of aggregated value - elif agg_type == 'MIN': # Find min mag vector - row = dps[dps.mag == dps.mag.min(skipna=skipna)] - elif agg_type == 'MAX': # Find max mag vector - row = dps[dps.mag == dps.mag.max(skipna=skipna)] - elif agg_type == 'MEAN': # Average each vector axis - # TODO below is a workaround to make this work like standard code. - # Needs to do a mean on only vectors that have both x,y components - row = {col: dps[col].mean(skipna=skipna) for col in col_vars} - elif agg_type == 'STD': # Std Dev each vector axis - # TODO Needs a fix like above statement - row = {col: dps[col].std(skipna=skipna) for col in col_vars} - elif agg_type == 'COUNT': - # TODO Needs a fix like above statement - row = {col: len(dps[col].dropna()) for col in col_vars} - # Median of vectors does not make sense - elif agg_type == 'MEDIAN': - raise ArithmeticError('Cannot find median of multi-dimensional variable!') - # If aggregation_type not available - else: - raise ValueError(f'Unknown aggregation type {self.aggregate_type}') - - # Extract variable values from single row (or dict) and return - return extract_vals(row, col_vars) + + # Limit data to boundary + dps = self.trim_datapoints(bounds) + # Get list of values + if type(self.data) == pd.core.frame.DataFrame: + values = get_value_from_df(dps, self.data_name_list, bounds, agg_type, skipna) + elif type(self.data) == xr.core.dataset.Dataset: + values = get_value_from_xr(dps, self.data_name_list, bounds, agg_type, skipna) + + # Put in dict to map variable to values + return {self.data_name_list[i]: values[i] for i in range(len(self.data_name_list))} - # TODO get_hom_condition() - # Using Curl / Divergence / Vorticity - # Reynolds number? - def get_hom_condition(self, bounds, splitting_conds, agg_type): + def get_hom_condition(self, bounds, splitting_conds, agg_type='MEAN'): ''' - Not implemented yet. Retrieves homogeneity condition of data within - boundary. + Retrieves homogeneity condition of data within boundary. Args: bounds (Boundary): Boundary object with limits of datarange to analyse @@ -361,33 +578,50 @@ def get_hom_condition(self, bounds, splitting_conds, agg_type): `(float)` The threshold at which data points of type 'value' within this CellBox are checked to be either above or below - 'upper_bound': - `(float)` The lowerbound of acceptable percentage - of data_points of type value within this boundary that are - above 'threshold' - 'lower_bound': - `(float)` The upperbound of acceptable percentage - of data_points of type value within this boundary that are - above 'threshold' Returns: str: The homogeniety condtion returned is of the form: \n - 'CLR' = the proportion of data points within this cellbox over a - given threshold is lower than the lowerbound \n - 'HOM' = the proportion of data points within this cellbox over a - given threshold is higher than the upperbound \n 'MIN' = the cellbox contains less than a minimum number of data points \n - 'HET' = the proportion of data points within this cellbox over a - given threshold if between the upper and lower bound - - Raises: - NotImplementedError: - This method hasn't been defined for a vector field yet + 'HET' = Threshold values defined in config are exceeded \n + 'CLR' = None of the HET conditions were triggered \n ''' - raise NotImplementedError + # Get length of dataset in bounds + if type(self.data) == pd.core.frame.DataFrame: + num_dp = len(self.trim_datapoints(bounds)) + elif type(self.data) == xr.core.dataset.Dataset: + num_dp = min(self.trim_datapoints(bounds).count().values()) + + # Set default homogeneity + hom_type = 'CLR' + + # Check to see if it's above the minimum threshold + if num_dp < self.min_dp: + hom_type = 'MIN' + else: + # To allow multiple modes of splitting, chuck them in the splitting conditions + # Split if magnitude of curl(data) is larger than threshold + if 'curl' in splitting_conds: + curl = self.calc_curl(bounds) + if np.abs(curl) > splitting_conds['curl']: + hom_type = 'HET' + # Split if max magnitude(any_vector - ave_vector) is larger than threshold + if 'dmag' in splitting_conds: + dmag = self.calc_dmag(bounds) + if np.abs(dmag) > splitting_conds['dmag']: + hom_type = 'HET' + + # Split if Reynolds number is larger than threshold + if 'reynolds' in splitting_conds: + reynolds = self.calc_reynolds_number(bounds) + if reynolds > splitting_conds['reynolds']: + hom_type = 'HET' + + logging.debug(f"\thom_condition for attribute: '{self.data_name}' in bounds:'{bounds}' returned '{hom_type}'") + return hom_type + def reproject(self, in_proj='EPSG:4326', out_proj='EPSG:4326', x_col='lat', y_col='long'): ''' @@ -439,14 +673,14 @@ def reproject_xr(data, in_proj, out_proj, x_col, y_col): # If no reprojection to do if in_proj == out_proj: - logging.debug("- self.reproject() called but don't need to") + logging.debug("\tself.reproject() called but don't need to") return self.data else: - logging.info(f"- Reprojecting data from {in_proj} to {out_proj}") + logging.info(f"\tReprojecting data from {in_proj} to {out_proj}") # Choose appropriate method of reprojection based on data type - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return reproject_df(self.data, in_proj, out_proj, x_col, y_col) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return reproject_xr(self.data, in_proj, out_proj, x_col, y_col) def downsample(self, agg_type=None): @@ -518,7 +752,7 @@ def downsample_df(data, ds, agg_type): defeating the purpose ''' logging.warning( - '- Downsampling called on pd.DataFrame! Downsampling a df' \ + '\tDownsampling called on pd.DataFrame! Downsampling a df' \ 'too computationally expensive, returning original df' ) return data @@ -526,18 +760,18 @@ def downsample_df(data, ds, agg_type): # Set to params if no specific aggregate type specified if agg_type is None: agg_type = self.aggregate_type - + # If no downsampling if self.downsample_factors == (1,1) or \ self.downsample_factors == [1,1]: - logging.debug("- self.downsample() called but don't have to") + logging.debug("\tself.downsample() called but don't have to") return self.data else: - logging.info(f"- Downsampling data by {self.downsample_factors}") + logging.info(f"\tDownsampling data by {self.downsample_factors}") # Otherwise, downsample appropriately - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return downsample_df(self.data, self.downsample_factors, agg_type) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return downsample_xr(self.data, self.downsample_factors, agg_type) def get_data_col_name(self): @@ -572,15 +806,27 @@ def get_data_names_from_xr(data): # Turn into comma seperated string and return return ','.join(data_names) + logging.debug(f"\tRetrieving data name from {type(self.data)}") # Choose method of extraction based on data type - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return get_data_names_from_df(self.data) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return get_data_names_from_xr(self.data) + def get_data_col_name_list(self): + ''' + Retrieve names of data columns (for pd.DataFrame), or variable + (for xr.Dataset). Used for when data_name not defined in params. + + Returns: + list: + Contains strings of data namesk + ''' + return self.get_data_col_name().split(',') + def set_data_col_name(self, new_names): ''' - Sets name of data column/data variables + Sets name of data column/data variables from a comma-seperated string Args: name_dict (dict): @@ -603,18 +849,279 @@ def set_names_xr(data, name_dict): ''' # Rename data variable to new name return data.rename(name_dict) - # Split string into column names - new_col_names = new_names.split(',') # Get existing column names - old_col_names = self.get_data_col_name().split(',') + old_names = self.get_data_col_name().split(',') # Ensure that can do replacement of columns - assert len(old_col_names) == len(new_col_names) + assert len(old_names) == len(new_names) # Set up mapping of old names to new names - name_dict = {old_col: new_col_names[i] - for i, old_col in enumerate(old_col_names)} + name_dict = {old_col: new_names[i] + for i, old_col in enumerate(old_names)} # Change names # Change data name depending on data type - if type(self.data) == type(pd.DataFrame()): + if type(self.data) == pd.core.frame.DataFrame: return set_names_df(self.data, name_dict) - elif type(self.data) == type(xr.Dataset()): + elif type(self.data) == xr.core.dataset.Dataset: return set_names_xr(self.data, name_dict) + + def set_data_col_name_list(self, new_names): + ''' + Sets name of data column/data variables from a list of strings. + Also updates self.data_name_list with new names from list + + Args: + new_names (list): + List of strings containing new variable names + + Returns: + pd.DataFrame or xr.Dataset: + Original dataset with data variables renamed + ''' + # Check validity of input + assert type(new_names) == list, f"'new_names' must be a list! Instead it is a {type(new_names)}" + assert len(new_names) == 2, f"'new_names' must have a length of 2! Instead it has length {len(new_names)}" + str_items = [isinstance(name, str) for name in new_names] + assert all(str_items), f"'new_names' must be list of 'str'. Currently {sum(str_items)} / 2 are strings!" + new_data_name = ','.join(new_names) + + # Set names + logging.info(f'\tSetting data names to {new_names}') + self.data_name_list = new_names + return self.set_data_col_name(new_data_name) + + def calc_reynolds_number(self, bounds): + ''' + Calculates an approximate Reynolds number from the mean vector velocity + and cellbox size. + + CURRENTLY ASSUMES DENSITY AND VISCOSITY OF SEAWATER AT 4°C! + WILL NEED MINOR REWORKING TO INCLUDE DIFFERENT FLUIDS + + Args: + bounds (Boundary): + Cellbox boundary to calculate characteristic length from + + Returns: + float: + Reynolds number of cellbox + ''' + # Extract the speed + velocity = self.get_value(bounds, agg_type='MEAN') + speed = np.linalg.norm(list(velocity.values())) # Calculates magnitude + # Extract the characteristic length + length = bounds.calc_size() + # Calculate the reynolds number and return + logging.warning("\tReynold number used for splitting, this function assumes properties of ocean water!") + return 1028 * 0.00167 * speed * length + + def calc_divergence(self, bounds, data=None, collapse=True, agg_type='MAX'): + ''' + Calculates the divergence of vectors in a cellbox + + Args: + bounds (Boundary): + Cellbox boundary in which all relevant vectors are contained + data (pd.DataFrame or xr.Dataset): + Dataset with 'lat' and 'long' columns/dimensions with vectors + collapes (bool): + Flag determining whether to return an aggregated value, or a + vector field (values for each individual vector). + agg_type (str): + Method of aggregation if collapsing value. + Accepts 'MAX' or 'MEAN' + + Returns: + float or pd.DataFrame: + float value of aggregated div if collapse=True, or + pd.DataFrame of div vector field if collapse=False + + Raises: + ValueError: If agg_type is not 'MAX' or 'MEAN' + ''' + if data is None: dps = self.trim_datapoints(bounds, data=data) + else: dps = data + + # Create a meshgrid of vectors from the data + vector_field = self._create_vector_meshgrid(dps, self.data_name_list) + + # Get component values for each vector + fx, fy = vector_field[:, :, 0], vector_field[:, :, 1] + # If not enough datapoints to compute gradient + if 1 in fx.shape or 1 in fy.shape: + logging.debug('\tUnable to compute gradient across cell for divergence calculation') + div = np.nan + else: + # Compute partial derivatives + dfx_dy = np.gradient(fx, axis=1) + dfy_dx = np.gradient(fy, axis=0) + # Compute curl + div = dfy_dx + dfx_dy + + # If div is nan + if np.isnan(div).all(): + logging.debug('\tAll NaN cellbox encountered') + return np.nan + # If want to collapse to max mag value, return scalar + elif collapse: + if agg_type == 'MAX': return max(np.nanmax(div), np.nanmin(div), key=abs) + elif agg_type == 'MEAN': return np.nanmean(div) + else: + raise ValueError(f"agg_type '{agg_type}' not understood! Requires 'MAX' or 'MEAN'") + # Else return field + else: + return div + + + def calc_curl(self, bounds, data=None, collapse=True, agg_type='MAX'): + ''' + Calculates the curl of vectors in a cellbox + + Args: + bounds (Boundary): + Cellbox boundary in which all relevant vectors are contained + data (pd.DataFrame or xr.Dataset): + Dataset with 'lat' and 'long' columns/dimensions with vectors + collapes (bool): + Flag determining whether to return an aggregated value, or a + vector field (values for each individual vector). + agg_type (str): + Method of aggregation if collapsing value. + Accepts 'MAX' or 'MEAN' + + Returns: + float or pd.DataFrame: + float value of aggregated curl if collapse=True, or + pd.DataFrame of curl vector field if collapse=False + + Raises: + ValueError: If agg_type is not 'MAX' or 'MEAN' + ''' + if data is None: dps = self.trim_datapoints(bounds, data=data) + else: dps = data + # Create a meshgrid of vectors from the data + vector_field = self._create_vector_meshgrid(dps, self.data_name_list) + # Get component values for each vector + fx, fy = vector_field[:, :, 0], vector_field[:, :, 1] + # If not enough datapoints to compute gradient + if 1 in fx.shape or 1 in fy.shape: + logging.debug('\tUnable to compute gradient across cell for curl calculation') + curl = np.nan + else: + # Compute partial derivatives + dfx_dy = np.gradient(fx, axis=1) + dfy_dx = np.gradient(fy, axis=0) + # Compute curl + curl = dfy_dx - dfx_dy + + # If div is nan + if np.isnan(curl).all(): + logging.debug('\tAll NaN cellbox encountered') + return np.nan + # If want to collapse to max mag value, return scalar + elif collapse: + if agg_type == 'MAX': return max(np.nanmax(curl), np.nanmin(curl), key=abs) + elif agg_type == 'MEAN': return np.nanmean(curl) + else: + raise ValueError(f"agg_type '{agg_type}' not understood! Requires 'MAX' or 'MEAN'") + # Else return field + else: + return curl + + def calc_dmag(self, bounds, data=None, collapse=True, agg_type='MEAN'): + ''' + Calculates the dmag of vectors in a cellbox. + dmag is defined as being the difference in magnitudes between + each vector and the average vector within the bounds.\n + dmag = mag(vector - mean_vector) + + Args: + bounds (Boundary): + Cellbox boundary in which all relevant vectors are contained + data (pd.DataFrame or xr.Dataset): + Dataset with 'lat' and 'long' columns/dimensions with vectors + collapes (bool): + Flag determining whether to return an aggregated value, or a + vector field (values for each individual vector). + agg_type (str): + Method of aggregation if collapsing value. + Accepts 'MAX' or 'MEAN' + + Returns: + float or pd.DataFrame: + float value of aggregated dmag if collapse=True, or + pd.DataFrame of dmag vector field if collapse=False + + Raises: + ValueError: If agg_type is not 'MAX' or 'MEAN' + ''' + if data is None: dps = self.trim_datapoints(bounds, data=data) + else: dps = data + + data_names = self.data_name_list + each_vector = dps[data_names].to_numpy() + ave_vector = list(self.get_value(bounds, agg_type=agg_type).values()) + + delta_vector = each_vector - ave_vector + + d_mag = np.linalg.norm(delta_vector, axis=1) + if len(d_mag) == 0: + logging.debug('\tEmpty cellbox encountered') + return np.nan + # If div is nan + elif np.isnan(d_mag).all(): + logging.debug('\tAll NaN cellbox encountered') + return np.nan + # If want to collapse to max mag value, return scalar + elif collapse: + if agg_type == 'MAX': return np.nanmax(d_mag) + elif agg_type == 'MEAN': return np.nanmean(d_mag) + else: + raise ValueError(f"agg_type '{agg_type}' not understood! Requires 'MAX' or 'MEAN'") + # Else return field + else: return d_mag + + + @staticmethod + def _create_vector_meshgrid(data, data_name_list): + ''' + Creates a np.meshgrid containing 2D vectors from a pd.DataFrame + + Args: + data (pd.DataFrame): + Dataframe with columns 'lat', 'long', and vector x/y components + lat | long | {v_x} | {v_y} + data_name_list (list): + List of strings containing the vector component names + + Returns: + np.array: + Table containing vectors as np.arrays at each coord + + ''' + def meshgrid_from_df(data, data_name_list): + + # Manipulate into meshgrid of 2D vectors + x, y = data_name_list + # Fields of each vector component + vector_x_field = data.pivot(index='lat', columns='long', values=x) + vector_y_field = data.pivot(index='lat', columns='long', values=y) + # Combine into field of vectors + vector_field = np.stack((vector_x_field, vector_y_field), axis=-1) + vector_field = np.swapaxes(vector_field, 0, 1) + return vector_field + + def meshgrid_from_xr(data, data_name_list): + # Extract out each variable and combine as tuple + data_arrays = (data[name].values + for name in data_name_list) + # Zip them together to make 2D array of n-dimensional vectors + return np.dstack(data_arrays) + + if type(data) == pd.core.frame.DataFrame: + return meshgrid_from_df(data, data_name_list) + elif type(data) == xr.core.dataset.Dataset: + return meshgrid_from_xr(data, data_name_list) + + + + + \ No newline at end of file diff --git a/polar_route/dataloaders/vector/baltic_current.py b/polar_route/dataloaders/vector/baltic_current.py index 8d585a9a..764e730f 100644 --- a/polar_route/dataloaders/vector/baltic_current.py +++ b/polar_route/dataloaders/vector/baltic_current.py @@ -20,7 +20,8 @@ def import_data(self, bounds): Dataset has coordinates 'lat', 'long', and variable 'uC', 'vC' ''' # Open Dataset - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column names data = data.rename({'latitude': 'lat', 'longitude': 'long', diff --git a/polar_route/dataloaders/vector/era5_wind.py b/polar_route/dataloaders/vector/era5_wind.py index e71afe2a..dc4b13a2 100644 --- a/polar_route/dataloaders/vector/era5_wind.py +++ b/polar_route/dataloaders/vector/era5_wind.py @@ -21,7 +21,8 @@ def import_data(self, bounds): Dataset has coordinates 'lat', 'long', and variable 'elevation' ''' # Open Dataset - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column names data = data.rename({'latitude': 'lat', 'longitude': 'long'}) diff --git a/polar_route/dataloaders/vector/north_sea_current.py b/polar_route/dataloaders/vector/north_sea_current.py index fb10a8e8..75a0633b 100644 --- a/polar_route/dataloaders/vector/north_sea_current.py +++ b/polar_route/dataloaders/vector/north_sea_current.py @@ -20,7 +20,8 @@ def import_data(self, bounds): Dataset has coordinates 'lat', 'long', and variable 'uC', 'vC' ''' # Open Dataset - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column names data = data.rename({'lon': 'long', 'times': 'time', diff --git a/polar_route/dataloaders/vector/oras5_current.py b/polar_route/dataloaders/vector/oras5_current.py index 11500c30..fac1e182 100644 --- a/polar_route/dataloaders/vector/oras5_current.py +++ b/polar_route/dataloaders/vector/oras5_current.py @@ -22,7 +22,8 @@ def import_data(self, bounds): Dataset has coordinates 'lat', 'long', and variable 'uC', 'vC' ''' # Open Dataset - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Change column names data = data.rename({'nav_lon': 'long', diff --git a/polar_route/dataloaders/vector/sose.py b/polar_route/dataloaders/vector/sose.py index 4f1e820d..a7eb8b7d 100644 --- a/polar_route/dataloaders/vector/sose.py +++ b/polar_route/dataloaders/vector/sose.py @@ -19,7 +19,8 @@ def import_data(self, bounds): ''' # Open dataset and cast to pandas df - data = xr.open_mfdataset(self.files) + if len(self.files) == 1: data = xr.open_dataset(self.files[0]) + else: data = xr.open_mfdataset(self.files) # Cast to dataframe to modify lon coordinate df = data.to_dataframe().reset_index() diff --git a/polar_route/dataloaders/vector/vector_csv.py b/polar_route/dataloaders/vector/vector_csv.py index 5f0ac9a0..0c90b4fb 100644 --- a/polar_route/dataloaders/vector/vector_csv.py +++ b/polar_route/dataloaders/vector/vector_csv.py @@ -1,8 +1,6 @@ from polar_route.dataloaders.vector.abstract_vector import VectorDataLoader -import logging - -import dask as dd +import pandas as pd class VectorCSVDataLoader(VectorDataLoader): def import_data(self, bounds): @@ -19,7 +17,11 @@ def import_data(self, bounds): and variable defined by column heading in csv file ''' # Read in data - data = dd.read_csv(self.files) + df_list = [] + # NOTE: All csv files must have same columns for this to work + for file in self.files: + df_list += [pd.read_csv(file)] + data = pd.concat(df_list) # Trim to initial datapoints data = self.trim_datapoints(bounds, data=data) diff --git a/polar_route/dataloaders/vector/vector_grf.py b/polar_route/dataloaders/vector/vector_grf.py index efa70c32..03c617a0 100644 --- a/polar_route/dataloaders/vector/vector_grf.py +++ b/polar_route/dataloaders/vector/vector_grf.py @@ -6,6 +6,47 @@ import numpy as np class VectorGRFDataLoader(VectorDataLoader): + + def add_default_params(self, params): + ''' + Set default values for abstract GRF dataloaders, starting by + including defaults for scalar dataloaders. + + Args: + params (dict): + Dictionary containing attributes that are required for the + shape being loaded. Must include 'shape'. + + Returns: + (dict): + Dictionary of attributes the dataloader will require, + completed with default values if not provided in config. + ''' + # Set default vector dataloader params + params = super().add_default_params(params) + + # Params that all GRF dataloaders need + if 'seed' not in params: + params['seed'] = None + if 'size' not in params: + params['size'] = 512 + if 'alpha' not in params: + params['alpha'] = 3 + # Column/variable names + if params['data_name'] is None: + params['data_name'] = 'uC,vC' + if 'vec_x' not in params: + params['vec_x'] = params['data_name'].split(',')[0] + if 'vec_y' not in params: + params['vec_y'] = params['data_name'].split(',')[1] + # Min/Max magnitude + if 'min' not in params: + params['min'] = 0 + if 'max' not in params: + params['max'] = 10 + + return params + def import_data(self, bounds): ''' Creates data in the form of a Gaussian Random Field diff --git a/polar_route/mesh_generation/aggregated_cellBox.py b/polar_route/mesh_generation/aggregated_cellbox.py similarity index 98% rename from polar_route/mesh_generation/aggregated_cellBox.py rename to polar_route/mesh_generation/aggregated_cellbox.py index 24ff97f0..cbcb03f4 100644 --- a/polar_route/mesh_generation/aggregated_cellBox.py +++ b/polar_route/mesh_generation/aggregated_cellbox.py @@ -99,7 +99,7 @@ def get_id (self): def to_json(self): ''' - convert cellBox to JSON + convert cellbox to JSON The returned object is of the form - @@ -135,7 +135,7 @@ def to_json(self): def contains_point(self, lat, long): """ - Returns true if a given lat/long coordinate is contained within this cellBox. + Returns true if a given lat/long coordinate is contained within this cellbox. Args: lat (float): latitude of a given point diff --git a/polar_route/mesh_generation/boundary.py b/polar_route/mesh_generation/boundary.py index 15b618b2..f1880773 100644 --- a/polar_route/mesh_generation/boundary.py +++ b/polar_route/mesh_generation/boundary.py @@ -4,6 +4,8 @@ from datetime import datetime from datetime import timedelta +from math import cos, sin, asin, sqrt, radians + class Boundary: """ A Boundary is a class that defines the geo-spatial/temporal @@ -12,7 +14,8 @@ class Boundary: Attributes: lat_range (float[]): array contains the start and end of latitude range - long_range (float[]): array contains the start and end of longtitude range + long_range (float[]): array contains the start and end of longtitude range. + In the case of constructing a global mesh, the longtitude range should be -180:180. time_range(string[]): array contains the start and end of time range @@ -128,16 +131,18 @@ def validate_bounds (self, lat_range , long_range , time_range): """ if len(lat_range) < 2 or len (long_range)<2 : - raise ValueError(f'Boundary: range should contain two values') + raise ValueError('Boundary: range should contain two values') if lat_range[0] > lat_range [1]: - raise ValueError(f'Boundary: Latitude start range should be smaller than range end') + raise ValueError('Boundary: Latitude start range should be smaller than range end') if long_range[0] > long_range [1]: - raise ValueError(f'Boundary: Longtitude start range should be smaller than range end') + raise ValueError('Boundary: Longtitude start range should be smaller than range end') + if long_range[0] < -180 or long_range[1] > 180: + raise ValueError('Boundary: Longtitude range should be within -180:180') if len (time_range) > 0: if datetime.strptime(time_range[0], '%Y-%m-%d') >= datetime.strptime(time_range[1], '%Y-%m-%d'): - raise ValueError(f'Boundary: Start time range should be smaller than range end') + raise ValueError('Boundary: Start time range should be smaller than range end') - # Functions used for getting data from a cellBox + # Functions used for getting data from a cellbox def getcx(self): """ returns x-position of the centroid of the cellbox @@ -244,6 +249,26 @@ def get_bounds(self): [ self.long_range[1], self.lat_range[0]], [self.long_range[0], self.lat_range[0], ]] return bounds + + def calc_size(self): + """ + Calculate the great circle distance (in meters) between + two points on the earth (specified in decimal degrees) + """ + # convert decimal degrees to radians + lon1, lat1, lon2, lat2 = map(radians, [self.get_long_min(), + self.get_lat_min(), + self.get_long_max(), + self.get_lat_max()]) + # haversine formula + dlon = lon2 - lon1 + dlat = lat2 - lat1 + a = sin(dlat / 2) ** 2 + cos(lat1) * cos(lat2) * sin(dlon / 2) ** 2 + c = 2 * asin(sqrt(a)) + # Get diagonal length + m = (6371 * c * 1000) + # Divide by sqrt(2) to get 'square' side length + return m / sqrt(2) def __str__(self): diff --git a/polar_route/mesh_generation/cellbox.py b/polar_route/mesh_generation/cellbox.py index bd73a397..2cac9464 100644 --- a/polar_route/mesh_generation/cellbox.py +++ b/polar_route/mesh_generation/cellbox.py @@ -20,7 +20,7 @@ import numpy as np from polar_route.mesh_generation.boundary import Boundary -from polar_route.mesh_generation.aggregated_cellBox import AggregatedCellBox +from polar_route.mesh_generation.aggregated_cellbox import AggregatedCellBox class CellBox: @@ -247,7 +247,7 @@ def create_splitted_cell_boxes(self, index): half_width = self.bounds.get_width() / 2 half_height = self.bounds.get_height() / 2 - # create 4 new cellBoxes + # create 4 new cellboxes time_range = self.bounds.get_time_range() lat = self.bounds.get_lat_min() lat_range = [lat + half_height, lat + self.bounds.get_height()] diff --git a/polar_route/mesh_generation/environment_mesh.py b/polar_route/mesh_generation/environment_mesh.py index 28d2fcdc..deb37be4 100644 --- a/polar_route/mesh_generation/environment_mesh.py +++ b/polar_route/mesh_generation/environment_mesh.py @@ -3,27 +3,32 @@ import geopandas as gpd import pandas as pd from shapely import wkt - +import numpy as np +import subprocess +import sys +import os +import tempfile from polar_route.mesh_generation.jgrid_aggregated_cellbox import JGridAggregatedCellBox from polar_route.mesh_generation.boundary import Boundary -from polar_route.mesh_generation.aggregated_cellBox import AggregatedCellBox +from polar_route.mesh_generation.aggregated_cellbox import AggregatedCellBox from polar_route.mesh_generation.neighbour_graph import NeighbourGraph +from polar_route.mesh_validation.sampler import Sampler +import collections.abc +import math +from pathlib import Path + class EnvironmentMesh: """ - a class that defines the environmental mesh structure and contains each cellbox aggregate information - - - Attributes: - bounds (Boundary): the boundaries of this mesh - agg_cellboxes (AggregatedCellBox[]): a list of aggregated cellboxes - neighbour_graph(NeighbourGraph): an object contains each cellbox neighbours information - config (dict): conatins the initial config used to build this mesh - - + a class that defines the environmental mesh structure and contains each cellbox aggregate information + Attributes: + bounds (Boundary): the boundaries of this mesh + agg_cellboxes (AggregatedCellBox[]): a list of aggregated cellboxes + neighbour_graph(NeighbourGraph): an object contains each cellbox neighbours information + config (dict): conatins the initial config used to build this mesh\n """ @classmethod def load_from_json(cls, mesh_json): @@ -78,12 +83,8 @@ def load_from_json(cls, mesh_json): }\n }\n }\n - - Returns: - EnvironmentMesh: object that contains all the json file mesh information. \n - - + EnvironmentMesh: object that contains all the json file mesh information.\n """ config = mesh_json['config'] cellboxes_json = mesh_json['cellboxes'] @@ -100,13 +101,11 @@ def load_from_json(cls, mesh_json): def __init__(self, bounds, agg_cellboxes, neighbour_graph, config): """ - Args: bounds (Boundary): the boundaries of this mesh agg_cellboxes (AggregatedCellBox[]): a list of aggregated cellboxes neighbour_graph(NeighbourGraph): an object contains each cellbox neighbours information - config (dict): conatins the initial config used to build this mesh - + config (dict): conatins the initial config used to build this mesh.\n """ self.bounds = bounds @@ -116,15 +115,15 @@ def __init__(self, bounds, agg_cellboxes, neighbour_graph, config): def to_json(self): """ - Returns this Mesh converted to a JSON object. + Returns this Mesh converted to a JSON object.\n Returns: - json: a string representation of the CellGird parseable as a JSON object. The JSON object is of the form - + json: a string representation of the CellGird parseable as a JSON object. The JSON object is of the form -\n {\n "config": the config used to initialize the Mesh,\n "cellboxes": a list of CellBoxes contained within the Mesh,\n - "neighbour_graph": a graph representing the adjacency of CellBoxes within the Mesh\n + "neighbour_graph": a graph representing the adjacency of CellBoxes within the Mesh.\n }\n """ output = dict() @@ -132,11 +131,13 @@ def to_json(self): output["cellboxes"] = self.cellboxes_to_json() output['neighbour_graph'] = self.neighbour_graph.get_graph() - return json.loads(json.dumps(output)) + + return json.loads(json.dumps(output, indent=4)) - def to_geojson(self): + + def to_geojson(self, params_file = None): """ - Returns the cellboxes of this mesh converted to a geoJSON format. + Returns the cellboxes of this mesh converted to a geoJSON format.\n Returns: geojson: The cellboxes of this mesh in a geoJSON format @@ -145,19 +146,267 @@ def to_geojson(self): geoJSON format does not contain all the data included in the standard .to_json() format. geoJSON meshes do not contain the configs used to build them, or the neighbour-graph which details how each of the - cellboxes are connected together. + cellboxes are connected together.\n """ geojson = "" mesh_json = self.to_json() + if (params_file != None): + with open(params_file) as f: + data = f.read() + format_params = json.loads(data) + data_name = format_params['data_name'] + logging.info("exporting layer : " + str(data_name)) + # Formatting mesh to geoJSON mesh_df = pd.DataFrame(mesh_json['cellboxes']) + + for column in mesh_df.columns: + + if column in ['id', 'geometry']: + continue + # remove unnecessary columns + if (params_file != None) and column not in [str(data_name)]: + mesh_df = mesh_df.drop(column, axis=1) + # remove unnecessary columns + elif column in ['cx', 'cy', 'dcx', 'dcy']: + mesh_df = mesh_df.drop(column, axis=1) + # convert lists to mean + elif mesh_df[column].dtype == list: + mesh_df[column] = [np.mean(x) for x in mesh_df[column]] + # convert bools to ints + elif mesh_df[column].dtype == bool: + mesh_df[column] = mesh_df[column].astype(int) + mesh_df[column] = mesh_df[column].replace(0, np.nan) + + # Remove infs and replace with nan + mesh_df = mesh_df.replace([np.inf, -np.inf], np.nan) + mesh_df['geometry'] = mesh_df['geometry'].apply(wkt.loads) - mesh_gdf = gpd.GeoDataFrame(mesh_df, crs = "EPSG:4326", geometry="geometry") + mesh_gdf = gpd.GeoDataFrame( + mesh_df, crs="EPSG:4326", geometry="geometry") geojson = json.loads(mesh_gdf.to_json()) return geojson + + def to_tif(self, params_file, path): + """ + generates a representation of the mesh in geotif image format.\n + + Args: + params_file(string) (optional): a path to a file that contains a dict of the folowing export parameters (If not given, default values are used for image export). The file should be of the following format -\n + \n + {\n + "data_name": "elevation",\n + "sampling_resolution": [\n + 150,\n + 150\n + ],\n + "projection": "3031",\n + }\n + Where data_name (string) is the name of the mesh data that will be included in the tif image (ex. SIC, elevation), if it is a vector data (e.g. fuel) then the vector mean is calculated for each pixel, + sampling_resolution ([int]) is a 2d array that represents the sampling resolution the geotiff will be generated at (how many pixels in the final image), + projection (int) is an int representing the ESPG sampling projection used to create the geotiff image (default is 4326), + and colour_conf (string) contains the path to color config file, which is a text-based file containing the association between data_name values and colors. It contains 4 columns per line: the data_name value and the corresponding red, green, blue value between 0 and 255, an example format where values range from 0 to 100 is -\n + \n + 0 240 250 160 \n + 30 230 220 170 \n + 60 220 220 220 \n + 100 250 250 250 \n + path (string): the path to save the generated tif image.\n + """ + def generate_samples(): + """ + generates uniform lat, long samples covering the image resolution space.\n + + Returns: + samples([[lat,long],..]): an array of samples, each item in the array is a 2d array that contains each sample lat and long.\n + + """ + mesh_height = self.bounds.get_lat_max() - self.bounds.get_lat_min() + mesh_width = self.bounds.get_long_max() - self.bounds.get_long_min() + pixel_height = mesh_height / ncols + pixel_width = mesh_width / nlines + samples = [] + # has to move in this direction as we start rendering from the upper left pixel + for lat in np.arange(self.bounds.get_lat_max(), self.bounds.get_lat_min(), -1*pixel_height): + for long in np.arange(self.bounds.get_long_min(), self.bounds.get_long_max(), pixel_width): + pixel_lat = lat - 0.5 * pixel_height # centeralize the pixel lat value + pixel_long = long + 0.5*pixel_width # centeralize the pixel long value + samples = np.append(samples, pixel_lat) + samples = np.append(samples, pixel_long) + # shape the samples in 2d array (each entry in the array holds sample lat and long + samples = np.reshape(samples, (nlines * ncols, 2)) + return samples + + def get_sample_value(sample): + """ + finds the aggregated cellbox that contains the sample lat and long and returns the value within.\n + + Args: + sample ([lat,long]): an array conatins the sample latitude and longtitude + Returns: + the aggregated value of 'data_name'(specified in to_tif params) + + """ + lat = sample[0] + long = sample[1] + value = np.nan + for agg_cellbox in self.agg_cellboxes: + if agg_cellbox.contains_point(lat, long): + # get the agg_value + value = agg_cellbox.agg_data[data_name] + if isinstance(value, collections.abc.Sequence): # if it is a vector then take the mean + value = np.mean (value) + if value == float('inf') : # repalce inf with nan + value = np.nan + # break to make sure we avoid getting multiple values (for lat and long on the bounds of multiple cellboxes) + break + return value + + def get_geo_transform(extent, nlines, ncols): + """ + transforms from the image coordinate space (row, column) to the georeferenced coordinate space. \n + Returns: + GT : array consists of 6 items representing how GDAL would place the top left pixel on the generated Geotiff:\n + GT[0] x-coordinate of the upper-left corner of the upper-left pixel.\n + GT[1] w-e pixel resolution / pixel width.\n + GT[2] row rotation (typically zero).\n + GT[3] y-coordinate of the upper-left corner of the upper-left pixel.\n + GT[4] column rotation (typically zero).\n + GT[5] n-s pixel resolution / pixel height (negative value for a north-up image).\n + + """ + resx = (extent[2] - extent[0]) / ncols + resy = (extent[3] - extent[1]) / nlines + return [extent[0], resx, 0, extent[3], 0, -resy] + + def load_params(params_file): + """ + loads the parameters of the tif export and override the default values.\n + + Args: + params_file (string): a path to a file containing a dict of the export params + + Returns: + params (dict): a dict object that contains the loaded parameters + + """ + params = {"data_name": "SIC", "sampling_resolution": [ + 100, 100], "projection": "4326"} # the default values + if (params_file != None): + with open(params_file) as f: + data = f.read() + input_params = json.loads(data) + if (input_params != None): + if ("projection" in input_params.keys()): + params["projection"] = input_params["projection"] + if ("data_name" in input_params.keys()): + params["data_name"] = input_params["data_name"] + if ("sampling_resolution" in input_params.keys()): + params["sampling_resolution"] = input_params["sampling_resolution"] + if ("colour_conf" in input_params.keys()): + params["colour_conf"] = input_params["colour_conf"] + return params + + def transform_proj(path, params, default_proj): + """ + method that transforms the generated tif into another projection + + Args: + path(string): the path of the generated tif + params (dict): a dict that contains the export parametrs + default_proj (stirng): a string represents the default projection (EPSG:4326).\n + + """ + if params["projection"] != str(default_proj): + dest = osr.SpatialReference() + dest.ImportFromEPSG(int(params["projection"])) + # transform to target proj and save + gdal.Warp(str(path), str(path), dstSRS=dest.ExportToWkt()) + + def set_colour(data, input_file, params): + """ + method that changes the color of the generated tif instead of using the default greyscale. + It defines a scale of RGB colors based on the range of data values(an example file is in unit_tests/resources/colour_conf.txt).\n + + Args: + data ([float]): an array conatins the values of the 'data_name' + input_path(string): the path of the generated grey tif + params (dict): a dict that contains the export parametrs.\n + + """ + fp, color_file = tempfile.mkstemp(suffix='.txt') + data = data[~np.isnan(data)] # get rid of the nans before calculating range + _max = np.nanmax(data) + _min = np.nanmin(data) + _range = _max-_min + inf_color = '255 0 0' # red color for inf value + colors = ['255 255 255', '173 216 230', '0 0 128', '0 0 139'] # default color + with open(color_file, 'w') as f: + for i, c in enumerate(colors[:-1]): + f.write(str(int(_min + (i + 1)*_range/len(colors))) + + ' ' + c + '\n') + f.write(str(int(_max - _range/len(colors))) + + ' ' + colors[-1] + '\n') + f.write (str(np.nan) + + ' ' + inf_color + '\n') # render nans in red + os.close(fp) + if "colour_conf" in params.keys(): + color_file = params["colour_conf"] + cmd = "gdaldem color-relief " + input_file \ + + ' ' + color_file + ' ' + input_file + subprocess.check_call(cmd, shell=True) + # remove additional files created while generating the tif + file_path = os.path.abspath(input_file) + dir_path = os.path.split(file_path)[0] + additional_files = ["grid_data" , "grid_data.aux.xml"] + for file in additional_files: + file_path = Path(dir_path +"/"+ file) + if os.path.isfile (file_path): + os.remove(file_path) + + # Only import if we need GDAL, to avoid having it as a requirement + from osgeo import gdal, ogr, osr + params = {} + params = load_params(params_file) + data_name = params["data_name"] + DEFAULT_PROJ = 4326 + + # Get image dimensions + nlines = params["sampling_resolution"][0] + ncols = params["sampling_resolution"][1] + + # define image extent based on mesh bounds + extent = [self.bounds.get_long_min(), self.bounds.get_lat_min( + ), self.bounds.get_long_max(), self.bounds.get_lat_max()] + + logging.info("Generating the tif image ...") + samples = generate_samples() + # create raster band and populate with sampled data of image_size (sampling_resolution) + driver = gdal.GetDriverByName('GTiff') + # reading the samples value + data = [] + data = np.reshape(np.asarray([get_sample_value( + sample) for sample in samples], dtype=np.float32), (nlines, ncols)) + # create a temp grid + grid_data = driver.Create( + 'grid_data', ncols, nlines, 1, gdal.GDT_Float32) + # setup geo-transform + grid_data.SetGeoTransform(get_geo_transform(extent, nlines, ncols)) + # Write data + srs = osr.SpatialReference() + srs.ImportFromEPSG(DEFAULT_PROJ) + grid_data.SetProjection(srs.ExportToWkt()) + grid_data.GetRasterBand(1).WriteArray(data) + + + # Save the file + driver.CreateCopy(path, grid_data, 0) + transform_proj(path, params, DEFAULT_PROJ) + set_colour(data, path, params) + logging.info(f'Generated GeoTIFF: {path}') def cellboxes_to_json(self): """ @@ -199,49 +448,52 @@ def update_cellbox(self, index, values): Args: index (int): the index of the cellbox to be updated values (dict): a dict contains perf. metrics names and values - """ if index > -1 or index < len(self.agg_cellboxes): self.agg_cellboxes[index].agg_data.update(values) else: - raise ValueError(f'Invalid cellbox index') + raise ValueError('Invalid cellbox index') - def save(self, path, format="JSON"): + def save(self, path, format="JSON", format_params=None): """ - Saves this object to a location in local storage. + Saves this object to a location in local storage in a specific format. Args: path (String): The file location the mesh will be saved to. format (String) (optional): The format the mesh will be saved in. If not format is given, default is JSON. - Supported formats are: - JSON - GEOJSON + Supported formats are\n + - JSON \n + - GEOJSON """ - - logging.info(f"- saving the environment mesh to {path}") - with open(path, 'w') as f: - if format.upper() == "JSON": - logging.info(f"Saving mesh in {format} format") - json.dump(self.to_json(), f) - elif format.upper() == "GEOJSON": - logging.info(f"Saving mesh in {format} format") - json.dump(self.to_geojson(), f) - else: - logging.warning(f"Cannot save mesh in a {format} format") - - if isinstance(self.agg_cellboxes[0], JGridAggregatedCellBox): - dump_path = path.replace (".json" , ".dump") - with open(dump_path, 'w') as dump_f: - self.dump_mesh(dump_f) + logging.info(f"Saving mesh in {format} format to {path}") + if format.upper() == "TIF": + self.to_tif(format_params, path) + + elif format.upper() == "JSON": + with open(path, 'w') as path: + json.dump(self.to_json(), path, indent=4) + + elif format.upper() == "GEOJSON": + with open(path, 'w') as path: + json.dump(self.to_geojson(format_params), path, indent=4) + + else: + logging.warning(f"Cannot save mesh in a {format} format") + + if isinstance(self.agg_cellboxes[0], JGridAggregatedCellBox): + dump_path = path.replace(".json", ".dump") + with open(dump_path, 'w') as dump_f: + self.dump_mesh(dump_f) + def dump_mesh(self, file): """ creates a string representation of this Mesh which is then saved to a file location specified by parameter - 'file' - for use in j_grid regression testing + 'file' for use in j_grid regression testing, + """ mesh_dump_str = "" for cell_box in self.agg_cellboxes: diff --git a/polar_route/mesh_generation/jgrid_aggregated_cellbox.py b/polar_route/mesh_generation/jgrid_aggregated_cellbox.py index e18f5833..49725d0c 100644 --- a/polar_route/mesh_generation/jgrid_aggregated_cellbox.py +++ b/polar_route/mesh_generation/jgrid_aggregated_cellbox.py @@ -4,7 +4,7 @@ import numpy as np import pandas as pd from polar_route.mesh_generation.boundary import Boundary -from polar_route.mesh_generation.aggregated_cellBox import AggregatedCellBox +from polar_route.mesh_generation.aggregated_cellbox import AggregatedCellBox import logging class JGridAggregatedCellBox (AggregatedCellBox): """ diff --git a/polar_route/mesh_generation/jgrid_cellbox.py b/polar_route/mesh_generation/jgrid_cellbox.py index 2d562438..dc96dc0f 100644 --- a/polar_route/mesh_generation/jgrid_cellbox.py +++ b/polar_route/mesh_generation/jgrid_cellbox.py @@ -189,7 +189,7 @@ def set_focus(self, focus): def contains_point(self, lat, long): """ - Returns true if a given lat/long coordinate is contained within this cellBox. + Returns true if a given lat/long coordinate is contained within this cellbox. Args: lat (float): latitude of a given point diff --git a/polar_route/mesh_generation/mesh_builder.py b/polar_route/mesh_generation/mesh_builder.py index 1cf972db..6c8a33a3 100644 --- a/polar_route/mesh_generation/mesh_builder.py +++ b/polar_route/mesh_generation/mesh_builder.py @@ -18,8 +18,10 @@ import logging import math -import json import numpy as np + +from tqdm import tqdm + from polar_route.mesh_generation.jgrid_cellbox import JGridCellBox from polar_route.mesh_generation.boundary import Boundary from polar_route.mesh_generation.cellbox import CellBox @@ -29,6 +31,7 @@ from polar_route.mesh_generation.neighbour_graph import NeighbourGraph from polar_route.mesh_generation.mesh import Mesh from polar_route.dataloaders.factory import DataLoaderFactory +from polar_route.config_validation.config_validator import validate_mesh_config class MeshBuilder: @@ -42,7 +45,7 @@ def __init__(self, config): """ Constructs a Mesh from a given config file.\n - + Args: config (dict): config file which defines the attributes of the Mesh to be constructed. config is of the form: \n "config": {\n @@ -71,11 +74,13 @@ def __init__(self, config): }\n }\n - + NOTE: In the case of constructing a global mesh, the longtitude range should be -180:180. "j_grid" (bool): True if the Mesh to be constructed should be of the same format as the original Java CellGrid, to be used for regression testing.\n - """ + """ + logging.info("Initialising Mesh Builder") + validate_mesh_config(config) self.config = config bounds = Boundary.from_json(config) @@ -108,7 +113,7 @@ def __init__(self, config): meta_data_list = self.initialize_meta_data(bounds, min_datapoints) # checking to avoid any dummy cellboxes (the ones that was splitted and replaced) - logging.info("Assigning data source to cellboxes...") + logging.info("Assigning data sources to cellboxes...") for cellbox in cellboxes: if isinstance(cellbox, CellBox): cellbox.set_minimum_datapoints(min_datapoints) @@ -116,8 +121,9 @@ def __init__(self, config): cellbox.set_data_source(meta_data_list) - logging.info("Initialise neighbours graph...") + logging.info("Initialising neighbour graph...") self.neighbour_graph = NeighbourGraph(cellboxes, grid_width) + self.neighbour_graph.set_global_mesh (self.check_global_mesh(bounds, cellboxes, int(grid_width))) max_split_depth = 0 if 'splitting' in self.config['Mesh_info']: @@ -128,29 +134,33 @@ def __init__(self, config): if self.is_jgrid_mesh(): logging.warning("We're using the legacy Java style cell grid") + def initialize_meta_data(self, bounds, min_datapoints): meta_data_list = [] splitting_conds = [] if 'Data_sources' in self.config['Mesh_info'].keys(): for data_source in self.config['Mesh_info']['Data_sources']: loader_name = data_source['loader'] - loader = DataLoaderFactory().get_dataloader( + loader = DataLoaderFactory.get_dataloader( loader_name, bounds, data_source['params'], min_datapoints) - logging.debug("creating data loader {}".format( + logging.debug("Creating data loader {}".format( data_source['loader'])) - updated_splitiing_cond = [] # create this list to get rid of the data_name in the conditions as it is not handeled by the DataLoader, remove after talking to Harry to address this in the loader + updated_splitting_cond = [] # create this list to get rid of the data_name in the conditions as it is not handeled by the DataLoader, remove after talking to Harry to address this in the loader if 'splitting_conditions' in data_source['params']: splitting_conds = data_source['params']['splitting_conditions'] for split_cond in splitting_conds: cond = split_cond[loader.data_name] - updated_splitiing_cond.append(cond) + updated_splitting_cond.append(cond) value_fill_type = self.check_value_fill_type(data_source) - + + # Update list of files in config to match the ones read in by dataloader + if 'files' in data_source['params']: + data_source['params']['files'] = loader.files meta_data_obj = Metadata( - loader, updated_splitiing_cond, value_fill_type) + loader, updated_splitting_cond, value_fill_type) meta_data_list.append(meta_data_obj) return meta_data_list @@ -204,6 +214,51 @@ def initialize_cellboxes(self, bounds, cell_width, cell_height): cellbox = CellBox(cell_bounds, cell_id) cellboxes.append(cellbox) return cellboxes + + def add_dataloader(self, Dataloader, params, bounds=None, name='myDataLoader', min_dp = 5): + ''' + Adds a dataloader to a pre-existing mesh by adding to the metadata + + Args: + Dataloader (ScalarDataLoader or VectorDataLoader): + Dataloader object to add to metadata + params (dict): + Parameters to initialise dataloader with + bounds (Boundary): + name (str): + Name of the dataloader used in config + + Returns: + MeshBuilder: + Original MeshBuilder object (self) with added metadata for + new dataloader + ''' + if bounds is None: + bounds = Boundary.from_json(self.config) + + logging.debug('Adding dataloader') + dataloader = Dataloader(bounds, params) + updated_splitting_cond = [] + if 'splitting_conditions' in params: + splitting_conds = params['splitting_conditions'] + updated_splitting_cond = [split_cond[dataloader.data_name] for split_cond in splitting_conds] + + data_source = {'loader': name, + 'params': params} + value_fill_type = self.check_value_fill_type(data_source) + + meta_data_obj = Metadata( + dataloader, updated_splitting_cond, value_fill_type) + + for cellbox in self.mesh.cellboxes: + if isinstance(cellbox, CellBox): + cellbox.set_minimum_datapoints(min_dp) + # Add new meta data to list of data sources per cellbox + cellbox.set_data_source( + cellbox.get_data_source() + [meta_data_obj] + ) + + def validate_bounds(self, bounds, cell_width, cell_height): assert (bounds.get_long_max() - bounds.get_long_min()) % cell_width == 0, \ @@ -214,6 +269,37 @@ def validate_bounds(self, bounds, cell_width, cell_height): f"""The defined longitude region <{bounds.get_lat_min()} :{bounds.get_lat_max()}> is not divisable by the initial cell width <{cell_height}>""" + def check_global_mesh(self, bounds , cellboxes, grid_width): + """ + Checks if the mesh is a global one and connects the cellboxes at the minimum longtitude and max longtitude accordingly + + Args: + bounds (Boundary): an object represents the bounds of the mesh + cellboxes (list): a list that contains the mesh initial cellboxes (before any splitting) + grid_width (int): an int represents the width of the mesh ( the number of cellboxes it contains horizontally) + Returns: + is_global_mesh (bool): a boolean indicates if the mesh is a global one + """ + is_global_mesh = False + if bounds.get_long_max()== abs (bounds.get_long_min()) == 180: # check if it is a global mesh + is_global_mesh = True + # find indeces of cellboxes at the min longtitude and max longtitude + min_long_cellboxes = cellboxes [::grid_width] + max_long_cellboxes = cellboxes [grid_width-1::grid_width] + # update NG to connect cellboxes + for i in range (0 , len(min_long_cellboxes)): + self.neighbour_graph.add_neighbour (int (min_long_cellboxes[i].get_id()) , Direction.west, int (max_long_cellboxes[i].get_id())) + self.neighbour_graph.add_neighbour (int (max_long_cellboxes[i].get_id()) , Direction.east , int (min_long_cellboxes[i].get_id())) + # checks to avoid the very upper and lower cellboxes as they do not have north/south neighbours + if 0<= i < len(min_long_cellboxes)-1: + self.neighbour_graph.add_neighbour (int (min_long_cellboxes[i].get_id()) , Direction.north_west, int (max_long_cellboxes[i+1].get_id())) + self.neighbour_graph.add_neighbour (int (max_long_cellboxes[i].get_id()) , Direction.north_east, int (min_long_cellboxes[i+1].get_id())) + if 0 0): - for cellbox in self.mesh.cellboxes: + # Set up split depth progress bar + level = 0 + sd_pbar = tqdm(range(0, split_depth), position=1, leave=False, + bar_format=' Split depth: {n_fmt}/{total_fmt} |{bar}| {percentage:3.0f}%{postfix} ') + + for cb_index, cellbox in enumerate(self.mesh.cellboxes): + ds_pbar.update(0) if isinstance(cellbox, CellBox): + if cellbox.get_split_depth() > level: + level = cellbox.get_split_depth() + # If we're a split level further down, iterate progress in progress bar + sd_pbar.update() + # Split the cellbox should_split = cellbox.should_split(index+1) if (cellbox.get_split_depth() < split_depth) & should_split: self.split_and_replace(cellbox) + # Update number of cellboxes processed + sd_pbar.set_postfix_str(f'[Cellbox {cb_index+1} / {len(self.mesh.cellboxes)}]') + tqdm.write('') + ds_pbar.clear() + sd_pbar.clear() def build_environmental_mesh(self): """ @@ -445,7 +556,9 @@ def build_environmental_mesh(self): agg_cellboxes = [] agg_cell_count = 0 - for cellbox in self.mesh.cellboxes: + logging.info('Aggregating cellboxes...') + for cellbox in tqdm(self.mesh.cellboxes, + bar_format=' Aggregating cellboxes: {n_fmt}/{total_fmt} |{bar}| {percentage:3.0f}%, [{elapsed} elapsed] '): agg_cell_count += 1 if isinstance(cellbox, CellBox): logging.debug(f'aggregating cellbox ({agg_cell_count}/{len(self.mesh.cellboxes)})') diff --git a/polar_route/mesh_generation/metadata.py b/polar_route/mesh_generation/metadata.py index 8acb4c24..7f881790 100644 --- a/polar_route/mesh_generation/metadata.py +++ b/polar_route/mesh_generation/metadata.py @@ -9,7 +9,7 @@ class Metadata: Attributes: - data_loader : object of the DataLoader class that enable projecting to the cellBox data + data_loader : object of the DataLoader class that enable projecting to the cellbox data splitting_conditions: list of conditions that determine how to split the data accessed by data_loader value_fill_type (string): indicates how to fill a CellBox if it has void data (ex. use the data in the parent cellbox or assign 0 to the data) @@ -21,9 +21,9 @@ def __init__(self, data_loader , spliiting_conditions =None, value_fill_type= "" """ Args: - data_loader (DataLoader): object of the DataLoader class that enables projecting to the cellBox data + data_loader (DataLoader): object of the DataLoader class that enables projecting to the cellbox data splitting_conditions (List): list of conditions that determine how to split CellBox - value_fill_tyep (string): represents the way the data of a cellBox will be filled + value_fill_tyep (string): represents the way the data of a cellbox will be filled in case it has void data (ex. parent , 0 ) """ diff --git a/polar_route/mesh_generation/neighbour_graph.py b/polar_route/mesh_generation/neighbour_graph.py index 31b946a5..1eaecc31 100644 --- a/polar_route/mesh_generation/neighbour_graph.py +++ b/polar_route/mesh_generation/neighbour_graph.py @@ -38,6 +38,7 @@ def __init__(self, cellboxes=None, grid_width=0): if cellboxes is None: cellboxes = [] self.initialise_neighbour_graph(cellboxes, grid_width) + self._is_global_mesh = False @classmethod def from_json(cls, ng_json): @@ -65,6 +66,17 @@ def update_neighbour(self, index, direction, neighbours): """ self.neighbour_graph[index][direction] = neighbours + def add_neighbour(self, index, direction, neighbour_indx): + """ + adds a neighbour in a certain direction + + Args: + index (int): the index of the cellbox to be updated + direction (int): the direction into which the neighbour will be added + neighbour_indx (int): the index of the cellbox to be added as a neighbour + """ + self.neighbour_graph[index][direction].append (neighbour_indx) + def remove_node_and_update_neighbours(self, cellbox_index): ''' method that removes a node in the neighbour_graph at a given index. remove_node_from_neighbours should be called first. @@ -168,11 +180,11 @@ def update_corner_neighbours(self, cellbox_indx, north_west_indx, north_east_ind south_west_corner_indx = self.neighbour_graph[cellbox_indx][Direction.south_west] if len(south_west_corner_indx) > 0: self.neighbour_graph[south_west_corner_indx[0]][Direction.north_east] = [south_west_indx] - + def get_neighbour_case(self, cellbox_a, cellbox_b): """ - Given two cellBoxes (cellbox_a, cellbox_b) returns a case number - representing where the two cellBoxes are touching. + Given two cellboxes (cellbox_a, cellbox_b) returns a case number + representing where the two cellboxes are touching. Args: cellbox_a (CellBox): starting CellBox @@ -184,7 +196,7 @@ def get_neighbour_case(self, cellbox_a, cellbox_b): case 0 -> CellBoxes are not neighbours case 1 -> cellbox_b is the North-East corner of cellbox_a\n - case 2 -> cellbox_b is East of cellbadd_nodeox_a\n + case 2 -> cellbox_b is East of cellbox_a\n case 3 -> cellbox_b is the South-East corner of cellbox_a\n case 4 -> cellbox_b is South of cellbox_a\n case -1 -> cellbox_b is the South-West corner of cellbox_a\n @@ -192,10 +204,26 @@ def get_neighbour_case(self, cellbox_a, cellbox_b): case -3 -> cellbox_b is the North-West corner of cellbox_a\n case -4 -> cellbox_b is North of cellbox_a\n """ + long_a = cellbox_a.bounds.get_long_min() lat_a = cellbox_a.bounds.get_lat_min() long_b = cellbox_b.bounds.get_long_min() lat_b = cellbox_b.bounds.get_lat_min() + def on_global_bound(cellbox_a , cellbox_b): + """ + Given two cellboxes (cellbox_a, cellbox_b) returns a boolean + representing whether the two cellboxes are touching on the global bound (-180,180). + + Args: + cellbox_a (CellBox): starting CellBox + cellbox_b (CellBox): destination CellBox + + Returns: + bool: a boolean representing if the two cellboxes are touching on the global bound (-180,180). + """ + return long_a == -180 and cellbox_b.bounds.get_long_max() == 180 or long_b == -180 and cellbox_a.bounds.get_long_max() == 180 + if self.is_global_mesh() and on_global_bound (cellbox_a , cellbox_b) : + return self.get_global_mesh_neighbour_case(cellbox_a, cellbox_b) if (long_a + cellbox_a.bounds.get_width()) == long_b and ( lat_a + cellbox_a.bounds.get_height()) == lat_b: return Direction.north_east @@ -225,6 +253,63 @@ def get_neighbour_case(self, cellbox_a, cellbox_b): long_b < (long_a + cellbox_a.bounds.get_width())): return Direction.north return 0 # Cells are not neighbours. + + def get_global_mesh_neighbour_case(self, cellbox_a, cellbox_b): + """ + Given two cellboxes in a *global mesh* (cellbox_a, cellbox_b) returns a case number + representing where the two cellboxes are touching. + + Args: + cellbox_a (CellBox): starting CellBox + cellbox_b (CellBox): destination CellBox + + Returns: + int: an int representing the direction of the adjacency between input cellbox_a and cellbox_b. The meaning of each case is as follows - + + case 0 -> CellBoxes are not neighbours + + case 1 -> cellbox_b is the North-East corner of cellbox_a\n + case 2 -> cellbox_b is East of cellbox_a\n + case 3 -> cellbox_b is the South-East corner of cellbox_a\n + case 4 -> cellbox_b is South of cellbox_a\n + case -1 -> cellbox_b is the South-West corner of cellbox_a\n + case -2 -> cellbox_b is West of cellbox_a\n + case -3 -> cellbox_b is the North-West corner of cellbox_a\n + case -4 -> cellbox_b is North of cellbox_a\n + """ + long_a = cellbox_a.bounds.get_long_min() + lat_a = cellbox_a.bounds.get_lat_min() + long_b = cellbox_b.bounds.get_long_min() + lat_b = cellbox_b.bounds.get_lat_min() + if (long_a + cellbox_a.bounds.get_width()) == abs(long_b)and ( + lat_a + cellbox_a.bounds.get_height()) == lat_b: + return Direction.north_east + if (long_a + cellbox_a.bounds.get_width() == abs(long_b)) and ( + lat_b < (lat_a + cellbox_a.bounds.get_height())) and ( + (lat_b + cellbox_b.bounds.get_height()) > lat_a): + return Direction.east + if (long_a + cellbox_a.bounds.get_width()) == abs(long_b) and ( + lat_a == lat_b + cellbox_b.bounds.get_height()): + return Direction.south_east + if ((lat_b + cellbox_b.bounds.get_height()) == lat_a) and ( + (long_b + cellbox_b.bounds.get_width()) > long_a) and ( + long_b < (long_a + cellbox_a.bounds.get_width())): + return Direction.south + if abs(long_a) == (long_b + cellbox_b.bounds.get_width()) and lat_a == ( + lat_b + cellbox_b.bounds.get_height()): + return Direction.south_west + if (long_b + cellbox_b.bounds.get_width() == abs(long_a)) and ( + lat_b < (lat_a + cellbox_a.bounds.get_height())) and ( + (lat_b + cellbox_b.bounds.get_height()) > lat_a): + return Direction.west + if abs(long_a) == (long_b + cellbox_b.bounds.get_width()) and ( + lat_a + cellbox_a.bounds.get_height() == lat_b): + return Direction.north_west + if (lat_b == (lat_a + cellbox_a.bounds.get_height())) and ( + (long_b + cellbox_b.bounds.get_width()) > long_a) and ( + long_b < (long_a + cellbox_a.bounds.get_width())): + return Direction.north + return 0 # Cells are not neighbours. def remove_neighbour(self, index, direction, neighbour_index): """ @@ -288,5 +373,9 @@ def initialise_map(self, cellbox_indx, grid_width, cellboxes_length): if cellbox_indx - grid_width >= 0: neighbour_map[Direction.south].append( int(cellbox_indx - grid_width)) - return neighbour_map + + def set_global_mesh (self, is_global): + self._is_global_mesh = is_global + def is_global_mesh (self): + return self._is_global_mesh \ No newline at end of file diff --git a/polar_route/mesh_validation/__init__.py b/polar_route/mesh_validation/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/polar_route/mesh_validation/sampler.py b/polar_route/mesh_validation/sampler.py index 10fd9dd9..dd0709dc 100644 --- a/polar_route/mesh_validation/sampler.py +++ b/polar_route/mesh_validation/sampler.py @@ -20,7 +20,7 @@ def __init__(self, d , n ): def generate_samples ( self, ranges): """ - generates samples within the provided ranges array, the length of the ranges should equal self.dimensions + generates samples within the provided ranges array, the length of the ranges should equal to self.dimensions Args: ranges (float[]): an array that contains the range that each sample dimension should fall within @@ -32,8 +32,7 @@ def generate_samples ( self, ranges): raise ValueError("ranges length should be equal to the sampler dimension") sampler = qmc.Sobol(d=self.dimensions) - n_points_log_2= int (math.log2(self.number_of_samples)) - samples = sampler.random_base2(m=n_points_log_2) + samples = sampler.random(n=self.number_of_samples) mapped_samples = [] # map samples to ranges for sample in samples: diff --git a/polar_route/route_calc.py b/polar_route/route_calc.py new file mode 100644 index 00000000..31e90719 --- /dev/null +++ b/polar_route/route_calc.py @@ -0,0 +1,362 @@ +import json +import logging +import numpy as np +import pandas as pd +import geopandas as gpd +from shapely import wkt +from shapely.geometry import Point, LineString, MultiLineString, Polygon + + +# Define ordering of cases in array data +case_indices = np.array([1, 2, 3, 4, -1, -2, -3, -4]) + +def traveltime_in_cell(xdist, ydist, u, v, s): + """ + Calculate travel time inside cell. + + Args: + xdist (float): x distance + ydist (float): y distance + u (float): current x component + v (float): current y component + s (float): ship speed + + Returns: + traveltime (float): the travel time + distance (float): the distance + """ + + dist = np.sqrt(xdist ** 2 + ydist ** 2) + cval = np.sqrt(u ** 2 + v ** 2) + + dotprod = xdist * u + ydist * v + diffsqrs = s ** 2 - cval ** 2 + + if diffsqrs == 0.0: + if dotprod == 0.0: + return np.inf + else: + if ((dist ** 2) / (2 * dotprod)) < 0: + return np.inf + else: + traveltime = dist * dist / (2 * dotprod) + return traveltime + + traveltime = (np.sqrt(dotprod ** 2 + (dist ** 2) * diffsqrs) - dotprod) / diffsqrs + if traveltime < 0: + traveltime = np.inf + return traveltime, dist + + +def traveltime_distance(cellbox, wp, cp, speed='speed', vector_x='uC', vector_y='vC', case=0): + """ + Calculate travel time and distance for two points. + + Args: + cellbox (dict): the cell containing the line segment + wp (ndarray): the start point + cp (ndarray): the end point + speed (str): the key for speed + vector_x (str): the key for the x vector component + vector_y (str): the key for the y vector component + case (int): case giving the index of the speed array + + Returns: + traveltime (float): the time to travel the line segment + distance (float): the distance along the line segment + """ + + idx = np.where(case_indices==case)[0][0] + # Conversion factors from lat/long degrees to metres TODO: replace as part of route planner refactor + m_long = 111.321 * 1000 + m_lat = 111.386 * 1000 + x = (cp[0] - wp[0]) * m_long * np.cos(wp[1] * (np.pi / 180)) + y = (cp[1] - wp[1]) * m_lat + su = cellbox[vector_x] + sv = cellbox[vector_y] + ssp = cellbox[speed][idx] * (1000 / (60 * 60)) + traveltime, distance = traveltime_in_cell(x, y, su, sv, ssp) + return traveltime, distance + + +def case_from_angle(start, end): + """ + Determine the direction of travel between two points and return the associated case + + Args: + start (ndarray): the coordinates of the start point within the cell + end (ndarray): the coordinates of the end point within the cell + + Returns: + case (int): the case to use to select variable values from a list + """ + + direct_vec = [end[0]-start[0], end[1]-start[1]] + direct_ang = np.degrees(np.arctan2(direct_vec[0], direct_vec[1])) + + case = None + + # Angular ranges corresponding to directional cases used in the route planner + # Cases cover 45 degree angular segments running clockwise from 1 at NE through to -4 at N + # See Sec. 6.1.2 in the docs for more info + + if -22.5 <= direct_ang < 22.5: + case = -4 + elif 22.5 <= direct_ang < 67.5: + case = 1 + elif 67.5 <= direct_ang < 112.5: + case = 2 + elif 112.5 <= direct_ang < 157.5: + case = 3 + elif 157.5 <= abs(direct_ang) <= 180: + case = 4 + elif -67.5 <= direct_ang < -22.5: + case = -3 + elif -112.5 <= direct_ang < -67.5: + case = -2 + elif -157.5 <= direct_ang < -112.5: + case = -1 + + return case + + +def load_route(route_file): + """ + Load route information from file + + Args: + route_file (str): Path to user defined route + + Returns: + df (Dataframe): Dataframe with route info + from_wp (str): Name of start waypoint + to_wp (str) Name of end waypoint + + """ + # Loading route from csv file + if route_file[-3:] == "csv": + df = pd.read_csv(route_file) + to_wp = df['Name'].iloc[-1] + from_wp = df['Name'].iloc[0] + # Loading route from geojson file + elif route_file[-4:] == "json": + with open(route_file, "r") as f: + route_json = json.load(f) + route_coords = route_json['features'][0]['geometry']['coordinates'] + to_wp = route_json['features'][0]['properties']['to'] + from_wp = route_json['features'][0]['properties']['from'] + longs = [c[0] for c in route_coords] + lats = [c[1] for c in route_coords] + df = pd.DataFrame() + df['Long'] = longs + df['Lat'] = lats + else: + logging.warning("Invalid route input! Please supply either a csv or geojson file with the route waypoints.") + return None + + logging.debug(f"Route has {len(df)} waypoints") + df['id'] = 1 + df['order'] = np.arange(len(df)) + + return df, from_wp, to_wp + + +def load_mesh(mesh_file): + """ + Load mesh from file into GeoDataFrame + Args: + mesh_file (str): Path to mesh with vehicle information + + Returns: + mesh (GeoDataFrame): Mesh in GeoDataFrame format + """ + # Loading mesh information + with open(mesh_file, 'r') as fp: + info = json.load(fp) + mesh = pd.DataFrame(info['cellboxes']) + mesh['geometry'] = mesh['geometry'].apply(wkt.loads) + mesh = gpd.GeoDataFrame(mesh, crs='EPSG:4326', geometry='geometry') + + region = info['config']['Mesh_info']['Region'] + region_poly = Polygon(((region['longMin'], region['latMin']), (region['longMin'], region['latMax']), + (region['longMax'], region['latMax']), (region['longMax'], region['latMin']))) + + return mesh, region_poly + + +def find_intersections(df, mesh): + """ + Find crossing points of the route and the cells in the mesh + Args: + df (DataFrame): Route info in dataframe format + mesh (GeoDataFrame): Mesh in GeoDataFrame format + + Returns: + track_points (dict): Dictionary of crossing points and cell ids + """ + + track_waypoints = gpd.GeoDataFrame(df, geometry=gpd.points_from_xy(df['Long'], df['Lat'])) + tracks = track_waypoints.sort_values(by=['order']).groupby(['id'])['geometry'].apply( + lambda x: LineString(x.tolist())) + tracks = gpd.GeoDataFrame(tracks, crs='EPSG:4326', geometry='geometry') + + line_segs_first_points = [] + line_segs_last_points = [] + line_segs_mid_points = [] + line_segs_cell_id = [] + + # Find crossing points of the route and the cells in the mesh + for idx in range(len(mesh)): + # Skip cells with no intersection + if not tracks['geometry'].iloc[0].intersects(mesh['geometry'].iloc[idx]): + continue + tp = tracks['geometry'].iloc[0].intersection(mesh['geometry'].iloc[idx]) + # Check for multi line strings in case of complex intersections + if type(tp) == MultiLineString: + pnts = [] + for l in tp.geoms: + for c in l.coords: + pnts.append(Point(c)) + else: + pnts = [Point(point) for point in tp.coords] + if len(pnts) <= 1: + continue + line_segs_first_points.append(pnts[0]) + line_segs_mid_points.append(pnts[1:-1]) + line_segs_last_points.append(pnts[-1]) + line_segs_cell_id.append(idx) + + track_points = pd.DataFrame( + {'startPoints': line_segs_first_points, 'midPoints': line_segs_mid_points, 'endPoints': line_segs_last_points, + 'cellID': line_segs_cell_id}) + + return track_points + + +def order_track(df, track_points): + """ + Order crossing points into a track along the route + Args: + df (DataFrame): Route info in dataframe format + track_points (dict): Dictionary of crossing points and cell ids + + Returns: + user_track (DataFrame): DataFrame of ordered crossing points and cell ids + """ + + start_point = Point(df.iloc[0]['Long'], df.iloc[0]['Lat']) + end_point = Point(df.iloc[-1]['Long'], df.iloc[-1]['Lat']) + + pathing = True + track_id = np.where(track_points['startPoints'] == start_point)[0][0] + path_point = [] + cell_ids = [] + + # Loop through crossing points to order them into a track along the route + while pathing: + try: + start_point_segment = track_points['startPoints'].iloc[track_id] + end_point_segment = track_points['endPoints'].iloc[track_id] + path_point.append(start_point_segment) + cell_ids.append(track_points['cellID'].iloc[track_id]) + + if len(track_points['midPoints'].iloc[track_id]) != 0: + for midpnt in track_points['midPoints'].iloc[track_id]: + path_point.append(midpnt) + cell_ids.append(track_points['cellID'].iloc[track_id]) + + if end_point_segment == end_point: + pathing = False + track_id = np.where(track_points['startPoints'] == end_point_segment)[0][0] + except IndexError: + pathing = False + path_point.append(end_point_segment) + cell_ids.append('NaN') + + user_track = pd.DataFrame({'Point': path_point, 'CellID': cell_ids}) + return user_track + + +def route_calc(route_file, mesh_file): + """ + Function to calculate the fuel/time cost of a user defined route in a given mesh + + Args: + route_file (str): Path to user defined route + mesh_file (str): Path to mesh with vehicle information + + Returns: + user_path (dict): User defined route in geojson format with calculated cost information + """ + + # Load route info and waypoint names from file + df, from_wp, to_wp = load_route(route_file) + + # Load mesh info from file + mesh, region_poly = load_mesh(mesh_file) + + # Check route waypoints contained in mesh bounds + for idx in range(len(df)): + if region_poly.contains(Point((df.iloc[idx]['Long'],df.iloc[idx]['Lat']))): + continue + else: + logging.warning(f"Mesh does not contain waypoint located at Lat: {df.iloc[idx]['Lat']} " + f"Long: {df.iloc[idx]['Long']} !") + return None + + # Find points where route crosses mesh + track_points = find_intersections(df, mesh) + + # Loop through crossing points to order them into a track along the route + user_track = order_track(df, track_points) + logging.debug(f"Route has {len(user_track)} crossing points") + + # Initialise segment costs with zero values at start point of path + traveltimes = [0.0] + distances = [0.0] + cellboxes = [mesh.iloc[user_track['CellID'].iloc[0]]] + cases = [1] + + # Calculate cost of each segment in the path + for idx in range(len(user_track)-1): + start_point = np.array((user_track['Point'].iloc[idx].xy[0][0], user_track['Point'].iloc[idx].xy[1][0])) + end_point = np.array((user_track['Point'].iloc[idx+1].xy[0][0], user_track['Point'].iloc[idx+1].xy[1][0])) + cell_box = mesh.iloc[user_track['CellID'].iloc[idx]] + case = case_from_angle(start_point, end_point) + # Check for inaccessible cells on user defined route + if cell_box['inaccessible']: + logging.warning(f"This route crosses an inaccessible cell! Cell located at Lat: {cell_box['cy']} " + f"Long: {cell_box['cx']}. Please reroute around it.") + return None + + traveltime_s, distance_m = traveltime_distance(cell_box, start_point, end_point, speed='speed', vector_x='uC', + vector_y='vC', case=case) + traveltime = ((traveltime_s / 60) / 60) / 24 + distance = distance_m / 1000 + traveltimes.append(traveltime) + distances.append(distance) + cellboxes.append(cell_box) + cases.append(case) + + + logging.debug(f"Route crosses {len(set([c['id'] for c in cellboxes]))} different cellboxes") + # Find cumulative values along path + path_points = user_track['Point'] + path_traveltimes = np.cumsum(traveltimes) + path_distances = np.cumsum(distances) + path_fuels = [traveltimes[idx] * cellboxes[idx]['fuel'][np.where(case_indices==cases[idx])[0][0]] for idx in range(len(traveltimes))] + path_fuel = np.cumsum(path_fuels) + + # Put path values into geojson format + path_geojson = pd.DataFrame() + path_geojson['geometry'] = [LineString(path_points)] + path_geojson['traveltime'] = [path_traveltimes.tolist()] + path_geojson['distance'] = [(path_distances * 1000).tolist()] + path_geojson['fuel'] = [path_fuel.tolist()] + path_geojson['to'] = to_wp + path_geojson['from'] = from_wp + path_geojson = gpd.GeoDataFrame(path_geojson, crs='EPSG:4326', geometry='geometry') + + user_path = json.loads(path_geojson.to_json()) + + return user_path \ No newline at end of file diff --git a/polar_route/route_planner.py b/polar_route/route_planner.py index 7c7b7b94..2583412e 100644 --- a/polar_route/route_planner.py +++ b/polar_route/route_planner.py @@ -15,8 +15,10 @@ from pandas.core.common import SettingWithCopyWarning warnings.simplefilter(action="ignore", category=SettingWithCopyWarning) -from polar_route.crossing import NewtonianDistance, NewtonianCurve - +from polar_route.crossing import NewtonianDistance +from polar_route.crossing_smoothing import Smoothing,PathValues,find_edge +from polar_route.config_validation.config_validator import validate_route_config +from polar_route.config_validation.config_validator import validate_waypoints def _flattenCases(id,mesh): neighbour_case = [] @@ -28,10 +30,79 @@ def _flattenCases(id,mesh): neighbour_indx.append(int(neighbour)) return neighbour_case, neighbour_indx +def _initialise_dijkstra_graph(dijkstra_graph): + ''' + Initialising dijkstra graph information in a standard form + + Args: + dijkstra_graph (pd.dataframe) - Pandas dataframe of the dijkstra graph construction + + Outputs: + dijkstra_graph_dict (dict) - Dictionary comprising dijkstra graph with keys based on cellbox id. + Each entry is a dictionary of the cellbox environmental and dijkstra information. + + + ''' + + dijkstra_graph_dict = {} + for idx,cell in dijkstra_graph.iterrows(): + dijkstra_graph_dict[cell.name] = {} + dijkstra_graph_dict[cell.name]['id'] = cell.name + for key in cell.keys(): + entry = cell[key] + if type(entry) == list: + entry = np.array(entry) + dijkstra_graph_dict[cell.name][key] = entry + return dijkstra_graph_dict + + +def _initialise_dijkstra_route(dijkstra_graph,dijkstra_route): + ''' + Initialising dijkstra route info a standard path form + + Args: + dijkstra_graph (dict) - Dictionary comprising dijkstra graph with keys based on cellbox id. + Each entry is a dictionary of the cellbox environmental and dijkstra information. + + dijkstra_route (dict) - Dictionary of a GeoJSON entry for the dijkstra route + + Outputs: + aps (list, [find_edge, ...]) - A list of adjacent cell pairs where each entry is of type find_edge including information on + .crossing, .case, .start, and .end see 'find_edge' for more information + ''' + + org_path_points = np.array(dijkstra_route['geometry']['coordinates']) + org_cellindices = np.array(dijkstra_route['properties']['CellIndices']) + org_cellcases= np.array(dijkstra_route['properties']['cases']) + + # -- Generating a dataframe of the case information -- + Points = np.concatenate([org_path_points[0,:][None,:],org_path_points[1:-1:2],org_path_points[-1,:][None,:]]) + cellIndices = np.concatenate([[org_cellindices[0]],[org_cellindices[0]],org_cellindices[1:-1:2],[org_cellindices[-1]],[org_cellindices[-1]]]) + cellcases = np.concatenate([[org_cellcases[0]],[org_cellcases[0]],org_cellcases[1:-1:2],[org_cellcases[-1]],[org_cellcases[-1]]]) + cellDijk = [dijkstra_graph[ii] for ii in cellIndices] + cells = cellDijk[1:-1] + cases = cellcases[1:-1] + aps = [] + for ii in range(len(cells)-1): + aps += [find_edge(cells[ii],cells[ii+1],cases[ii+1])] + # #-- Setting some backend information + start_waypoint = Points[0,:] + end_waypoint = Points[-1,:] + + return aps, start_waypoint,end_waypoint def _json_str(input): + ''' + Load JSON object either from dict or from file + + Input: + input (dict or string) - JSON file/dict + + Output: + output (dict) - Dictionary from JSON object + ''' if type(input) is dict: output = input elif type(input) is str: @@ -43,9 +114,7 @@ def _json_str(input): return output def _pandas_dataframe_str(input): - if type(input) is dict: - output = input - elif type(input) == type(pd.DataFrame()): + if (type(input) is dict) or (type(input) is pd.core.frame.DataFrame): output = input elif type(input) is str: try: @@ -143,7 +212,7 @@ def __init__(self, mesh, config, waypoints, cost_func=NewtonianDistance): Args: - mesh(dict or string of filepath): mesh based JSON containing the cellbox information and neighbourhood graph + mesh (dict or string of filepath): mesh based JSON containing the cellbox information and neighbourhood graph config (dict or string of filepath): config JSON which defines the attributes required for the route construction. Sections required for the route construction are as follows\n @@ -154,7 +223,7 @@ def __init__(self, mesh, config, waypoints, cost_func=NewtonianDistance): "waypoints_path": (string),\n "source_waypoints": list of (string),\n "end_waypoints": list of (string),\n - "vector_names": (list of (string),\n + "vector_names": list of (string),\n "zero_currents": (boolean),\n "variable_speed" (boolean),\n "time_unit" (string),\n @@ -163,11 +232,13 @@ def __init__(self, mesh, config, waypoints, cost_func=NewtonianDistance): "smooth_path":{\n "max_iteration_number":(int),\n "minimum_difference":(float),\n + }\n }\n - cost_func (func): Crossing point cost function for Dijkstra Path creation. For development purposes only ! + cost_func (func): Crossing point cost function for Dijkstra Path creation. For development purposes only! """ - + validate_route_config(config) + validate_waypoints(waypoints) # Load in the current cell structure & Optimisation Info̦ self.mesh = _json_str(mesh) self.config = _json_str(config) @@ -209,9 +280,13 @@ def __init__(self, mesh, config, waypoints, cost_func=NewtonianDistance): if 'speed' not in self.neighbour_graph: print(self.neighbour_graph.columns) raise Exception('Vessel Speed not in the mesh information ! Please run vessel performance') + + # ======= Sea-Ice Concentration ====== + if 'SIC' not in self.neighbour_graph: + self.neighbour_graph['SIC'] = 0.0 # ====== Objective Function Information ====== - # Checking if objective function is in the cellgrid + # Checking if objective function is in the dijkstra if self.config['objective_function'] != 'traveltime': if self.config['objective_function'] not in self.neighbour_graph: raise Exception("Objective Function require '{}' column in mesh dataframe".format(self.config['objective_function'])) @@ -251,7 +326,7 @@ def __init__(self, mesh, config, waypoints, cost_func=NewtonianDistance): for idx,wpt in wpts.iterrows(): indices = self.neighbour_graph[self.neighbour_graph['geometry'].contains(Point(wpt[['Long','Lat']]))].index # Waypoint is not within a mesh cell, but could still be on the edge of one. So perturbing the position slightly to the north-east and checking again. - #If this is not the case then the waypoint is not within the navitagatable domain and will continue + #If this is not the case then the waypoint is not within the navigable domain and will continue if len(indices) == 0: try: indices = mesh[(mesh['geometry'].contains(Point(wpt[['Long','Lat']]+1e-5)))].index @@ -260,7 +335,7 @@ def __init__(self, mesh, config, waypoints, cost_func=NewtonianDistance): if len(indices) == 0: continue if len(indices) > 1: - raise Exception('Wapoint lies in multiple cell boxes. Please check mesh ! ') + raise Exception('Waypoint lies in multiple cell boxes. Please check mesh ! ') else: wpts['index'].loc[idx] = int(indices[0]) @@ -291,11 +366,10 @@ def __init__(self, mesh, config, waypoints, cost_func=NewtonianDistance): def to_json(self): ''' - Outputing the information in JSON format + Outputting the information in JSON format ''' mesh = copy.copy(self.mesh) mesh['waypoints'] = mesh['waypoints'].to_dict() - mesh['config']['route_info'] = self.config output_json = json.loads(json.dumps(mesh)) del mesh return output_json @@ -303,7 +377,7 @@ def to_json(self): def _dijkstra_paths(self, start_waypoints, end_waypoints): """ Hidden function. Given internal variables and start and end waypoints this function - returns a GEOJSON formated path dict object + returns a GEOJSON formatted path dict object INPUTS: start_waypoints: Start waypoint names (list) @@ -518,154 +592,85 @@ def compute_routes(self): self.paths = self._dijkstra_paths(self.source_waypoints, self.end_waypoints) self.mesh['paths'] = self.paths - def compute_smoothed_routes(self): + def compute_smoothed_routes(self,blocked_metric='SIC',debugging=False): """ Using the previously constructed Dijkstra paths smooth the paths to remove mesh features `paths` will be updated in the output JSON """ - if 'max_iteration_number' not in self.config['smooth_path']: - maxiter = 1e4 - else: - maxiter = self.config['smooth_path']['max_iteration_number'] - - if 'minimum_iterations' not in self.config['smooth_path']: - minimum_iterations = 50 - else: - minimum_iterations = self.config['smooth_path']['minimum_iterations'] - - - if 'minimum_difference' not in self.config['smooth_path']: - minimumDiff = 1e-4 - else: - minimumDiff = self.config['smooth_path']['minimum_difference'] - - # Minimum Difference = 1e-4 - # Minimum Iterations = 50 - # Max Iteration Number = 1e4 - - - - # - - # - SmoothedPaths = [] - geojson = {} - geojson['type'] = "FeatureCollection" - + # ====== Routes info ======= if len(self.paths['features']) == 0: - logging.warning('Paths not constructed as there was no dijkstra paths created') - return - Pths = copy.deepcopy(self.paths)['features'] - - logging.info('========= Determining Smoothed Paths ===========\n') - - for ii in range(len(Pths)): - Path = Pths[ii] - counter = 0 + raise Exception('Paths not constructed as there were no dijkstra paths created') + routes = copy.deepcopy(self.paths)['features'] - logging.info('---Smoothing {}'.format(Path['properties']['name'])) - nc = NewtonianCurve(self.dijkstra_info[Path['properties']['from']], self.config, maxiter=1, - zerocurrents=self.zero_currents) - nc.pathIter = maxiter - - org_path_points = np.array(Path['geometry']['coordinates']) - org_cellindices = np.array(Path['properties']['CellIndices']) - - # -- Generating a dataframe of the case information -- - Points = np.concatenate([org_path_points[0,:][None,:],org_path_points[1:-1:2],org_path_points[-1,:][None,:]]) - cellIndices = np.concatenate([[org_cellindices[0]],[org_cellindices[0]],org_cellindices[1:-1:2],[org_cellindices[-1]],[org_cellindices[-1]]]) - cellDijk = [nc.neighbour_graph.loc[ii] for ii in cellIndices] - nc.CrossingDF = pd.DataFrame({'cx':Points[:,0],'cy':Points[:,1],'cellStart':cellDijk[:-1],'cellEnd':cellDijk[1:]}) + # ====== Determining route info ====== + if 'smoothing_max_iterations' in self.config: + max_iterations = self.config['smoothing_max_iterations'] + else: + max_iterations = 2000 + if 'smoothing_blocked_sic' in self.config: + blocked_sic = self.config['smoothing_blocked_sic'] + else: + blocked_sic = 10.0 + if 'smoothing_merge_separation' in self.config: + merge_separation = self.config['smoothing_merge_separation'] + else: + merge_separation = 1e-3 + if 'smoothing_converged_sep' in self.config: + converged_sep = self.config['smoothing_converged_sep'] + else: + converged_sep = 1e-3 - # -- Determining the cases from the cell information. If within cell then case 0 -- - Cases = [] - for idx, row in nc.CrossingDF.iterrows(): - try: - Cases.append(row.cellStart['case'][np.where(np.array(row.cellStart['neighbourIndex']) == row.cellEnd.name)[0][0]]) - except: - Cases.append(0) - nc.CrossingDF['case'] = Cases - nc.CrossingDF.index = np.arange(int(nc.CrossingDF.index.min()), int(nc.CrossingDF.index.max()*1e3 + 1e3), int(1e3)) - - nc.orgDF = copy.deepcopy(nc.CrossingDF) - iter = 0 - # try: - - # while iter < nc.pathIter: - pbar = tqdm(np.arange(nc.pathIter)) - - # Determining the computational time averaged across all pairs - self.allDist = [] - - self.nc = nc - self.all_crossing_points = [] - for iter in pbar: - self.all_crossing_points += [nc.CrossingDF] - nc.previousDF = copy.deepcopy(nc.CrossingDF) - id = 0 - while id <= (len(nc.CrossingDF) - 3): - - - # -- Updating the crossing point - nc.triplet = nc.CrossingDF.iloc[id:id+3] - nc._updateCrossingPoint(iter) - self.nc = nc - id += 1 - - if id <= (len(nc.CrossingDF) - 3): - print('Path Smoothing Failed!') - break - - self.nc = nc - - #nc._mergePoint() - self.nc = nc - iter+=1 - - - - # Stop optimisation if the points are within some minimum difference - if len(nc.previousDF) == len(nc.CrossingDF): - Dist = np.max(np.sqrt((nc.previousDF['cx'].astype(float) - nc.CrossingDF['cx'].astype(float))**2 + (nc.previousDF['cy'].astype(float) - nc.CrossingDF['cy'].astype(float))**2)) - self.allDist.append(Dist) - pbar.set_description("Mean Difference = {}".format(Dist)) - if (Dist < minimumDiff) and (iter>=minimum_iterations): - logging.info('{} iterations - dDist={}'.format(iter, Dist)) - break - - if iter == nc.pathIter: - logging.info('Maximum Iteration Met - Returning Last Path'.format(iter, Dist)) - nc.CrossingDF = self.all_crossing_points[-1] - - - - # ------ Smooth Path Values ----- - # Given a smoothed route path now determine the along path parameters. - variables = nc.objective_function(nc.CrossingDF) - TravelTimeLegs = variables['traveltime']['path_values'] - DistanceLegs = variables['distance']['path_values'] - pathIndex = variables['cell_index']['path_values'] - FuelLegs = variables['fuel']['path_values'] - SpeedLegs = variables['speed']['path_values'] - - - # ------ Saving Output in a standard form to be saved ------ - SmoothedPath ={} - SmoothedPath['type'] = 'Feature' - SmoothedPath['geometry'] = {} - SmoothedPath['geometry']['type'] = "LineString" - SmoothedPath['geometry']['coordinates'] = nc.CrossingDF[['cx','cy']].to_numpy().tolist() - SmoothedPath['properties'] = {} - SmoothedPath['properties']['from'] = Path['properties']['from'] - SmoothedPath['properties']['to'] = Path['properties']['to'] - SmoothedPath['properties']['traveltime'] = list(TravelTimeLegs) - SmoothedPath['properties']['fuel'] = list(FuelLegs) - SmoothedPath['properties']['distance'] = list(DistanceLegs) - SmoothedPath['properties']['speed'] = list(SpeedLegs) - SmoothedPaths.append(SmoothedPath) - geojson['features'] = SmoothedPaths - self.smoothed_paths = geojson - self.mesh['paths'] = self.smoothed_paths - - \ No newline at end of file + logging.info('========= Determining Smoothed Paths ===========\n') + geojson = {} + SmoothedPaths = [] + for route in routes: + logging.info('---Smoothing {}'.format(route['properties']['name'])) + dijkstra_graph = self.dijkstra_info[route['properties']['from']] + self.initialise_dijkstra_graph = _initialise_dijkstra_graph(dijkstra_graph) + self.route = route + self.adjacent_pairs,self.start_waypoint,self.end_waypoint = _initialise_dijkstra_route(self.initialise_dijkstra_graph,self.route) + + sf = Smoothing(self.initialise_dijkstra_graph, + self.adjacent_pairs, + self.start_waypoint,self.end_waypoint, + blocked_metric=blocked_metric, + max_iterations=max_iterations, + blocked_sic = blocked_sic, + merge_separation=merge_separation, + converged_sep=converged_sep) + self.sf = sf + self.sf.forward() + + + # ------ Smooth Path Values ----- + # Given a smoothed route path now determine the along path parameters. + pv = PathValues() + path_info = pv.objective_function(sf.aps,sf.start_waypoint,sf.end_waypoint) + variables = path_info['variables'] + TravelTimeLegs = variables['traveltime']['path_values'] + DistanceLegs = variables['distance']['path_values'] + pathIndex = variables['cell_index']['path_values'] + FuelLegs = variables['fuel']['path_values'] + SpeedLegs = variables['speed']['path_values'] + + + + # ------ Saving Output in a standard form to be saved ------ + SmoothedPath ={} + SmoothedPath['type'] = 'Feature' + SmoothedPath['geometry'] = {} + SmoothedPath['geometry']['type'] = "LineString" + SmoothedPath['geometry']['coordinates'] = path_info['path'].tolist() + SmoothedPath['properties'] = {} + SmoothedPath['properties']['from'] = route['properties']['from'] + SmoothedPath['properties']['to'] = route['properties']['to'] + SmoothedPath['properties']['traveltime'] = list(TravelTimeLegs) + SmoothedPath['properties']['fuel'] = list(FuelLegs) + SmoothedPath['properties']['distance'] = list(DistanceLegs) + SmoothedPath['properties']['speed'] = list(SpeedLegs) + SmoothedPaths += [SmoothedPath] + + geojson['features'] = SmoothedPaths + self.smoothed_paths = geojson + self.mesh['paths'] = self.smoothed_paths \ No newline at end of file diff --git a/polar_route/utils.py b/polar_route/utils.py index 042c2f0f..1ed2849f 100644 --- a/polar_route/utils.py +++ b/polar_route/utils.py @@ -1,37 +1,17 @@ +""" +Miscellaneous utility functions that may be of use throughout PolarRoute +""" + import logging import time import tracemalloc +import numpy as np from datetime import datetime, timedelta from functools import wraps from calendar import monthrange - -import numpy as np from scipy.fftpack import fftshift -from math import log10, floor -""" -Utilities that might be of use -""" -def rectangle_overlap(a_coords, b_coords): - # Rectangles must have parallel lines - # Coords are tuples of format - # ((x0, y0), (x2, y2)) - # where 0/2 denote the min/max extent - # of the x/y coords of the rect - min_a_coords = a_coords[0] - max_a_coords = a_coords[1] - min_b_coords = b_coords[0] - max_b_coords = b_coords[1] - - dx = min(max_a_coords[0], max_b_coords[0]) - \ - max(min_a_coords[0], min_b_coords[0]) - - dy = min(max_a_coords[1], max_b_coords[1]) - \ - max(min_a_coords[1], min_b_coords[1]) - - return dx*dy - def frac_of_month(year, month, start_date=None, end_date=None): @@ -50,20 +30,54 @@ def frac_of_month(year, month, start_date=None, end_date=None): days_overlap = (end_date - start_date).days + 1 # Return fraction return days_overlap / days_in_month - + + def boundary_to_coords(bounds): min_coords = (bounds.get_lat_min(), bounds.get_long_min()) max_coords = (bounds.get_lat_max(), bounds.get_long_max()) - return (min_coords, max_coords) - + return min_coords, max_coords + + def str_to_datetime(date_str): return datetime.strptime(date_str, '%Y-%m-%d') + def date_range(start_date, end_date): for n in range(int((end_date - start_date).days)): yield start_date + timedelta(n) +def convert_decimal_days(decimal_days, mins=False): + """ + Convert decimal days to more readable Days, Hours and (optionally) Minutes + Args: + decimal_days (float): Number of days as a decimal + mins (bool): Determines whether to return minutes or decimal hours + Returns: + new_time (str): The time in the new format + """ + frac_d, days = np.modf(decimal_days) + hours = frac_d * 24.0 + + if mins: + frac_h, hours = np.modf(hours) + minutes = round(frac_h * 60.0) + if days: + new_time = f"{round(days)} days {round(hours)} hours {minutes} minutes" + elif hours: + new_time = f"{round(hours)} hours {minutes} minutes" + else: + new_time = f"{minutes} minutes" + else: + hours = round(hours, 2) + if days: + new_time = f"{round(days)} days {hours} hours" + else: + new_time = f"{hours} hours" + + return new_time + + def round_to_sigfig(x, sigfig=5): """ Rounds numbers to some number of significant figures @@ -78,11 +92,11 @@ def round_to_sigfig(x, sigfig=5): """ # Save original type of data so can be returned as input orig_type = type(x) - if orig_type not in [list, float, int, np.ndarray]: + if orig_type not in [list, float, int, np.ndarray, np.float64]: raise ValueError(f'Cannot round {type(x)} to sig figs!') # Cast as array if not initially, so that later processes all act as expected - if orig_type in [int, float]: + if orig_type in [int, float, np.float64]: x = [x] x = np.array(x) # Create a mask disabling any values of inf or zero being passed to log10 @@ -114,66 +128,85 @@ def round_to_sigfig(x, sigfig=5): return rounded +def divergence(flow): + flow = np.swapaxes(flow, 0, 1) + Fx, Fy = flow[:, :, 0], flow[:, :, 1] + dFx_dx = np.gradient(Fx, axis=0) + dFy_dy = np.gradient(Fy, axis=1) + return dFx_dx + dFy_dy + + +def curl(flow): + flow = np.swapaxes(flow, 0, 1) + Fx, Fy = flow[:, :, 0], flow[:, :, 1] + dFx_dy = np.gradient(Fx, axis=1) + dFy_dx = np.gradient(Fy, axis=0) + curl = dFy_dx - dFx_dy + return curl + + # GRF functions def fftind(size): - ''' + """ Creates a numpy array of shifted Fourier coordinates. - + Args: size (int): The size of the coordinate array to create - + Returns: np.array: - Numpy array of shifted Fourier coordinates (k_x, k_y). + Numpy array of shifted Fourier coordinates (k_x, k_y). Has shape (2, size, size), with:\n array[0,:,:] = k_x components\n array[1,:,:] = k_y components - ''' + """ # Create array k_ind = np.mgrid[:size, :size] - int( (size + 1)/2 ) # Fourier shift k_ind = fftshift(k_ind) - return( k_ind ) + return k_ind + def gaussian_random_field(size, alpha): - ''' - Creates a gaussian random field with normal (circular) distribution - Code from https://github.com/bsciolla/gaussian-random-fields/blob/master/gaussian_random_fields.py - - Args: - size (int): - Default = 512; - The number of datapoints created per axis in the GRF - alpha (float): - Default = 3.0; - The power of the power-law momentum distribution - - Returns: - np.array: - 2D Array of datapoints, shape (size, size) - ''' - - # Defines momentum indices - k_idx = fftind(size) - - # Defines the amplitude as a power law 1/|k|^(alpha/2) - amplitude = np.power( k_idx[0]**2 + k_idx[1]**2 + 1e-10, -alpha/4.0 ) - amplitude[0,0] = 0 - - # Draws a complex gaussian random noise with normal - # (circular) distribution - noise = np.random.normal(size = (size, size)) \ - + 1j * np.random.normal(size = (size, size)) - - # To real space - grf = np.fft.ifft2(noise * amplitude).real - - # Normalise the GRF: - grf = grf - np.min(grf) - grf = grf/(np.max(grf)-np.min(grf)) + """ + Creates a gaussian random field with normal (circular) distribution + Code from https://github.com/bsciolla/gaussian-random-fields/blob/master/gaussian_random_fields.py + + Args: + size (int): + Default = 512; + The number of datapoints created per axis in the GRF + alpha (float): + Default = 3.0; + The power of the power-law momentum distribution + + Returns: + np.array: + 2D Array of datapoints, shape (size, size) + """ - return grf + # Defines momentum indices + k_idx = fftind(size) + + # Defines the amplitude as a power law 1/|k|^(alpha/2) + amplitude = np.power( k_idx[0]**2 + k_idx[1]**2 + 1e-10, -alpha/4.0 ) + amplitude[0,0] = 0 + + # Draws a complex gaussian random noise with normal + # (circular) distribution + noise = np.random.normal(size = (size, size)) \ + + 1j * np.random.normal(size = (size, size)) + + # To real space + grf = np.fft.ifft2(noise * amplitude).real + + # Normalise the GRF: + grf = grf - np.min(grf) + grf = grf/(np.max(grf)-np.min(grf)) + + return grf + def memory_trace(func): @wraps(func) @@ -240,18 +273,3 @@ def wrapper(*args, **kwargs): logging.getLogger("urllib3").setLevel(logging.WARNING) return parsed_args return wrapper - - -if __name__ == '__main__': - aa = str_to_datetime('2020-03-01') - ab = str_to_datetime('2020-03-15') - - ba = str_to_datetime('2020-02-01') - bb = str_to_datetime('2020-04-01') - - ax = date_range(aa, ab) - bx = date_range(ba, bb) - - print(frac_of_month(2020, 2, start_date='2020-02-29')) - # print(time_overlap(ax, bx)) - \ No newline at end of file diff --git a/polar_route/vessel_performance/abstract_vessel.py b/polar_route/vessel_performance/abstract_vessel.py index ed60ec1f..390a61ce 100644 --- a/polar_route/vessel_performance/abstract_vessel.py +++ b/polar_route/vessel_performance/abstract_vessel.py @@ -1,4 +1,4 @@ -from polar_route.mesh_generation.aggregated_cellBox import AggregatedCellBox +from polar_route.mesh_generation.aggregated_cellbox import AggregatedCellBox from abc import ABCMeta, abstractmethod class AbstractVessel(metaclass=ABCMeta): diff --git a/polar_route/vessel_performance/vessel_performance_modeller.py b/polar_route/vessel_performance/vessel_performance_modeller.py index 32f747eb..290a357f 100644 --- a/polar_route/vessel_performance/vessel_performance_modeller.py +++ b/polar_route/vessel_performance/vessel_performance_modeller.py @@ -1,7 +1,9 @@ -from polar_route.mesh_generation.environment_mesh import EnvironmentMesh -from polar_route.vessel_performance.vessel_factory import VesselFactory import numpy as np import logging + +from polar_route.mesh_generation.environment_mesh import EnvironmentMesh +from polar_route.vessel_performance.vessel_factory import VesselFactory +from polar_route.config_validation.config_validator import validate_vessel_config from polar_route.utils import timed_call class VesselPerformanceModeller: @@ -18,6 +20,7 @@ def __init__(self, env_mesh_json, vessel_config): vessel_config (dict): a dictionary loaded from a vessel config json file """ logging.info("Initialising Vessel Performance Modeller") + validate_vessel_config(vessel_config) self.env_mesh = EnvironmentMesh.load_from_json(env_mesh_json) self.config = vessel_config @@ -50,6 +53,8 @@ def model_performance(self): """ for i, cellbox in enumerate(self.env_mesh.agg_cellboxes): + if cellbox.agg_data.get('inaccessible'): + continue performance_values = self.vessel.model_performance(cellbox) self.env_mesh.update_cellbox(i, performance_values) diff --git a/polar_route/vessel_performance/vessels/SDA.py b/polar_route/vessel_performance/vessels/SDA.py index 16a29aa2..ddf3583d 100644 --- a/polar_route/vessel_performance/vessels/SDA.py +++ b/polar_route/vessel_performance/vessels/SDA.py @@ -1,4 +1,4 @@ -from polar_route.mesh_generation.aggregated_cellBox import AggregatedCellBox +from polar_route.mesh_generation.aggregated_cellbox import AggregatedCellBox from polar_route.vessel_performance.vessels.abstract_ship import AbstractShip import numpy as np import logging @@ -147,10 +147,10 @@ def ice_resistance(self, cellbox): def invert_resistance(self, cellbox): """ Method to find the vessel speed that keeps the ice resistance force below a given threshold in a given cell. - The input cellbox should contain the following values: - sic (float): The average sea ice concentration in the cell as a percentage - thickness (float): The average ice thickness in the cell in m - density (float): The average ice density in the cell in kg/m^3 + The input cellbox should contain the following values\n + sic (float) - The average sea ice concentration in the cell as a percentage \n + thickness (float) - The average ice thickness in the cell in m \n + density (float) - The average ice density in the cell in kg/m^3 \n Args: cellbox (AggregatedCellBox): input cell from environmental mesh diff --git a/polar_route/vessel_performance/vessels/abstract_ship.py b/polar_route/vessel_performance/vessels/abstract_ship.py index 7c6f1600..c2297fcb 100644 --- a/polar_route/vessel_performance/vessels/abstract_ship.py +++ b/polar_route/vessel_performance/vessels/abstract_ship.py @@ -17,7 +17,7 @@ def __init__(self, params): self.max_speed = self.vessel_params['MaxSpeed'] self.speed_unit = self.vessel_params['Unit'] - self.min_depth = self.vessel_params['MinDepth'] + self.max_elevation = -1 * self.vessel_params['MinDepth'] self.max_ice = self.vessel_params['MaxIceConc'] def model_performance(self, cellbox): @@ -98,7 +98,7 @@ def land(self, cellbox): logging.warning(f"No elevation data in cell {cellbox.id}, cannot determine if it is land") land = False else: - land = cellbox.agg_data['elevation'] > self.min_depth + land = cellbox.agg_data['elevation'] > self.max_elevation return land diff --git a/polar_route/vessel_performance/vessels/underwater_vessel.py b/polar_route/vessel_performance/vessels/underwater_vessel.py index e62d6fc8..f3232bef 100644 --- a/polar_route/vessel_performance/vessels/underwater_vessel.py +++ b/polar_route/vessel_performance/vessels/underwater_vessel.py @@ -1,5 +1,5 @@ from polar_route.vessel_performance.abstract_vessel import AbstractVessel -from polar_route.mesh_generation.aggregated_cellBox import AggregatedCellBox +from polar_route.mesh_generation.aggregated_cellbox import AggregatedCellBox class UnderwaterVessel(AbstractVessel): diff --git a/requirements.txt b/requirements.txt index 13308b42..3d0f4320 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,10 +1,13 @@ dask -folium geopandas +jsonschema matplotlib netcdf4 numpy>=1.21.6 pandas>=1.3.5,<1.5 +pytest +shapely +scikit-learn +scipy tqdm xarray -scipy \ No newline at end of file diff --git a/setup.py b/setup.py index 7d2becac..4dc0d11c 100644 --- a/setup.py +++ b/setup.py @@ -43,7 +43,9 @@ def get_content(filename): "create_mesh=polar_route.cli:create_mesh_cli", "add_vehicle=polar_route.cli:add_vehicle_cli", "optimise_routes=polar_route.cli:optimise_routes_cli", - "export_mesh=polar_route.cli:export_mesh_cli"], + "export_mesh=polar_route.cli:export_mesh_cli", + "calculate_route=polar_route.cli:calculate_route_cli", + "rebuild_mesh=polar_route.cli:rebuild_mesh_cli"], }, keywords=[], packages=find_packages(), diff --git a/tests/regression_tests/example_meshes/vessel_meshes/grf_downsample.json b/tests/regression_tests/example_meshes/vessel_meshes/grf_downsample.json index 32af4f7f..3dc5e561 100644 --- a/tests/regression_tests/example_meshes/vessel_meshes/grf_downsample.json +++ b/tests/regression_tests/example_meshes/vessel_meshes/grf_downsample.json @@ -208,7 +208,7 @@ "HullType": "slender", "ForceLimit": 96634.5, "MaxIceConc": 80, - "MinDepth": -10 + "MinDepth": 10 } }, "cellboxes": [ @@ -242,13 +242,13 @@ ], "ice resistance": 96634.50000000004, "wind resistance": [ - 886.8996498946108, + 886.899649894589, 1358.5694413503643, - 736.2028369607597, + 736.2028369607397, -292.68933276582175, -1133.3084031802846, -1329.8877164843798, - -1027.072083607878, + -1027.0720836078926, -112.4017986625131 ], "relative wind speed": [ @@ -262,29 +262,29 @@ 5.942460879026133 ], "relative wind angle": [ - 0.02835047078167397, - 0.0028746609521730537, - 0.0325887146830527, + 0.028350470781677888, + 0.0028746609521730533, + 0.03258871468305611, 0.04455691185273526, - 0.03031800818526901, - 0.003142120645056568, - 0.03455520196597457, - 0.04429050228847997 + 0.030318008185269012, + 0.0031421206450565685, + 0.034555201965977785, + 0.04429050228847998 ], "resistance": [ - 97521.39964989465, + 97521.39964989464, 97993.06944135041, - 97370.7028369608, + 97370.70283696079, 96341.81066723423, 95501.19159681976, 95304.61228351566, - 95607.42791639216, + 95607.42791639215, 96522.09820133753 ], "fuel": [ - 52.37478024101077, + 52.37478024101076, 52.619721427833404, - 52.29669690310383, + 52.29669690310382, 51.76583595963075, 51.33503915886245, 51.23467639378696, @@ -322,51 +322,51 @@ ], "ice resistance": 96634.49999999999, "wind resistance": [ - 1345.0324453676621, - 672.3302893226955, - -325.32857358711317, + 1345.0324453676449, + 672.3302893226946, + -325.328573587115, -1086.8120488514746, - -1240.0370604040331, + -1240.0370604040263, -867.61803872364, 42.50033356123549, - 984.8987782124623 + 984.8987782124568 ], "relative wind speed": [ - 3.8595403429614863, + 3.8595403429614854, 3.702512124598503, - 3.384916605524705, + 3.3849166055247046, 3.0760059151188894, 2.981642606789013, 3.174531187556348, 3.511208320110038, - 3.7847631238586708 + 3.784763123858671 ], "relative wind angle": [ - 0.01649602804417314, - 0.09615203740316408, + 0.01649602804417987, + 0.0961520374031641, 0.13006716473300686, 0.08639498507577567, - 0.02135367821945893, - 0.11220641392700745, + 0.02135367821945373, + 0.11220641392700746, 0.12536375591219986, - 0.07018644041860411 + 0.07018644041860729 ], "resistance": [ - 97979.53244536764, + 97979.53244536763, 97306.83028932268, 96309.17142641287, 95547.68795114852, - 95394.46293959595, + 95394.46293959596, 95766.88196127635, 96677.00033356123, 97619.39877821245 ], "fuel": [ - 43.28955405713286, + 43.289554057132854, 42.940500950363514, 42.42593409591517, 42.03567272818064, - 41.95740545505885, + 41.957405455058854, 42.14778881704564, 42.615219785599294, 43.102477711463905 @@ -402,9 +402,9 @@ ], "ice resistance": 96634.50000000003, "wind resistance": [ - 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df[col] = [round_to_sigfig(x, sigfig=SIG_FIG_TOLERANCE).item() - if type(x) == float else x for x in df[col]] + round_col = list() + for val in df[col]: + if type(val) == list and all([type(x) == float for x in val]): + round_col.append(round_to_sigfig(val, sigfig=SIG_FIG_TOLERANCE)) + else: + round_col.append(val) + + df[col] = round_col # Find difference between the two diff --git a/tests/regression_tests/pytest.ini b/tests/regression_tests/pytest.ini new file mode 100644 index 00000000..3394300c --- /dev/null +++ b/tests/regression_tests/pytest.ini @@ -0,0 +1,6 @@ +# pytest.ini +[pytest] +log_cli = true +log_format= [%(asctime)s] %(levelname)s : %(message)s + + diff --git a/tests/regression_tests/route_test_functions.py b/tests/regression_tests/route_test_functions.py index 7798a243..06c1a2eb 100644 --- a/tests/regression_tests/route_test_functions.py +++ b/tests/regression_tests/route_test_functions.py @@ -3,7 +3,7 @@ from polar_route.utils import round_to_sigfig -SIG_FIG_TOLERANCE = 5 +SIG_FIG_TOLERANCE = 4 # Testing route outputs def test_route_coordinates(route_pair): diff --git a/tests/regression_tests/test_mesh.py b/tests/regression_tests/test_mesh.py index 637a3668..fb2a68c2 100644 --- a/tests/regression_tests/test_mesh.py +++ b/tests/regression_tests/test_mesh.py @@ -5,10 +5,13 @@ import json import pytest +import time +from polar_route import __version__ as pr_version from polar_route import MeshBuilder # Import tests, which are automatically run + from .mesh_test_functions import test_mesh_cellbox_attributes from .mesh_test_functions import test_mesh_cellbox_count from .mesh_test_functions import test_mesh_cellbox_ids @@ -17,6 +20,12 @@ from .mesh_test_functions import test_mesh_neighbour_graph_ids from .mesh_test_functions import test_mesh_neighbour_graph_values + +import logging +LOGGER = logging.getLogger(__name__) +LOGGER.setLevel(logging.INFO) + + #File locations of all environmental meshes to be recalculated for regression testing. TEST_ENV_MESHES = [ './example_meshes/env_meshes/grf_normal.json', @@ -36,6 +45,9 @@ './example_meshes/abstract_env_meshes/circle_quadrant_nosplit.json' ] +def setup_module(): + LOGGER.info(f'PolarRoute version: {pr_version}') + @pytest.fixture(scope='session', autouse=False, params=TEST_ENV_MESHES + TEST_ABSTRACT_MESHES) def mesh_pair(request): """ @@ -47,12 +59,17 @@ def mesh_pair(request): Returns: list: old and new mesh jsons for comparison """ + + + LOGGER.info(f'Test File: {request.param}') + + with open(request.param, 'r') as fp: old_mesh = json.load(fp) mesh_config = old_mesh['config'] new_mesh = calculate_env_mesh(mesh_config) - + return [old_mesh, new_mesh] def calculate_env_mesh(mesh_config): @@ -65,7 +82,15 @@ def calculate_env_mesh(mesh_config): Returns: json: Newly regenerated mesh """ + start = time.perf_counter() + mesh_builder = MeshBuilder(mesh_config) new_mesh = mesh_builder.build_environmental_mesh() + end = time.perf_counter() + + cellbox_count = len(new_mesh.agg_cellboxes) + LOGGER.info(f'Mesh containing {cellbox_count} cellboxes built in {end - start} seconds') + + return new_mesh.to_json() diff --git a/tests/regression_tests/test_routes_dijkstra.py b/tests/regression_tests/test_routes_dijkstra.py index f0b32846..8aa77e69 100644 --- a/tests/regression_tests/test_routes_dijkstra.py +++ b/tests/regression_tests/test_routes_dijkstra.py @@ -1,7 +1,11 @@ import json import pytest +import time +from polar_route import __version__ as pr_version from polar_route import RoutePlanner + + from .route_test_functions import extract_waypoints from .route_test_functions import extract_route_info @@ -13,6 +17,11 @@ from .route_test_functions import test_cell_indices from .route_test_functions import test_cases +import logging +LOGGER = logging.getLogger(__name__) +LOGGER.setLevel(logging.INFO) + +# location of test files to be recalcaulted for regression testing TEST_ROUTES = [ './example_routes/dijkstra/fuel/gaussian_random_field.json', './example_routes/dijkstra/fuel/checkerboard.json', @@ -24,6 +33,9 @@ './example_routes/dijkstra/time/great_circle_reverse.json', ] +def setup_module(): + LOGGER.info(f'PolarRoute version: {pr_version}') + # Pairing old and new outputs @pytest.fixture(scope='session', autouse=False, params=TEST_ROUTES) def route_pair(request): @@ -36,6 +48,9 @@ def route_pair(request): Returns: list: [reference json, new json] """ + + LOGGER.info(f'Test File: {request.param}') + # Load reference JSON with open(request.param, 'r') as fp: old_route = json.load(fp) @@ -56,6 +71,7 @@ def calculate_dijkstra_route(config, mesh): Returns: json: New route output """ + start = time.perf_counter() # Initial set up waypoints = extract_waypoints(mesh) @@ -67,4 +83,7 @@ def calculate_dijkstra_route(config, mesh): # Generate json to compare to old output new_route = rp.to_json() + end = time.perf_counter() + LOGGER.info(f'Route calculated in {end - start} seconds') + return new_route \ No newline at end of file diff --git a/tests/regression_tests/test_routes_smoothed.py b/tests/regression_tests/test_routes_smoothed.py index 62efcfaa..5765e6e6 100644 --- a/tests/regression_tests/test_routes_smoothed.py +++ b/tests/regression_tests/test_routes_smoothed.py @@ -1,6 +1,9 @@ import json import pytest +import time + +from polar_route import __version__ as pr_version from polar_route import RoutePlanner from .route_test_functions import extract_waypoints from .route_test_functions import extract_route_info @@ -13,6 +16,10 @@ from .route_test_functions import test_distance from .route_test_functions import test_speed +import logging +LOGGER = logging.getLogger(__name__) +LOGGER.setLevel(logging.INFO) + TEST_ROUTES = [ './example_routes/smoothed/fuel/gaussian_random_field.json', './example_routes/smoothed/fuel/checkerboard.json', @@ -36,6 +43,8 @@ def route_pair(request): Returns: list: [reference json, new json] """ + LOGGER.info(f'Test File: {request.param}') + # Load reference JSON with open(request.param, 'r') as fp: old_route = json.load(fp) @@ -56,6 +65,7 @@ def calculate_smoothed_route(config, mesh): Returns: json: New route output """ + start = time.perf_counter() # Initial set up waypoints = extract_waypoints(mesh) @@ -68,4 +78,7 @@ def calculate_smoothed_route(config, mesh): # Generate json to compare to old output new_route = rp.to_json() + end = time.perf_counter() + LOGGER.info(f'Route smoothed in {end - start} seconds') + return new_route \ No newline at end of file diff --git a/tests/regression_tests/test_vessel.py b/tests/regression_tests/test_vessel.py index 1ad37b04..27c7cc46 100644 --- a/tests/regression_tests/test_vessel.py +++ b/tests/regression_tests/test_vessel.py @@ -5,7 +5,9 @@ import json import pytest +import time +from polar_route import __version__ as pr_version from polar_route import VesselPerformanceModeller # Import tests, which are automatically run @@ -17,6 +19,10 @@ from .mesh_test_functions import test_mesh_neighbour_graph_ids from .mesh_test_functions import test_mesh_neighbour_graph_values +import logging +LOGGER = logging.getLogger(__name__) +LOGGER.setLevel(logging.INFO) + #File locations of all vessel performance meshes to be recalculated for regression testing. INPUT_MESHES = [ './example_meshes/env_meshes/grf_normal.json', @@ -43,6 +49,8 @@ def mesh_pair(request): Returns: list: old and new mesh jsons for comparison """ + LOGGER.info(f'Test File: {request.param[1]}') + input_mesh_file = request.param[0] output_mesh_file = request.param[1] # Open vessel mesh for reference @@ -68,8 +76,15 @@ def calculate_vessel_mesh(mesh_json, vessel_config): Returns: json: Newly regenerated mesh """ + start = time.perf_counter() + new_mesh = VesselPerformanceModeller(mesh_json, vessel_config) new_mesh.model_accessibility() new_mesh.model_performance() + end = time.perf_counter() + + cellbox_count = len(new_mesh.env_mesh.agg_cellboxes) + LOGGER.info(f'Vessel simulated against {cellbox_count} cellboxes in {end - start} seconds') + return new_mesh.to_json() \ No newline at end of file diff --git a/tests/testing_strategy.md b/tests/testing_strategy.md index 9f3825f8..50c57b58 100644 --- a/tests/testing_strategy.md +++ b/tests/testing_strategy.md @@ -21,12 +21,14 @@ Pull requests will not be accepted unless all required regression tests pass. ## Vessel Performance Modelling -| **Files altered** | **Tests** | -|-------------------------------------|-----------------------------------------| -| `abstract_vessel.py` | `tests/regression_tests/test_vessel.py` | -| `vessel_factory.py` | | -| `vessel_performance_modeller.py` | | -| | | +| **Files altered** | **Tests** | +|----------------------------------|-----------------------------------------| +| `abstract_vessel.py` | `tests/regression_tests/test_vessel.py` | +| `vessel_factory.py` | | +| `vessel_performance_modeller.py` | | +| `SDA.py` | | +| `underwater_vessel.py` | | +| `abstract_ship.py` | | ## Route Planning @@ -45,5 +47,6 @@ Details of these failed tests should be submitted as part of the pull request in If the changes made are valid, the test files should be updated so-as the tests pass again, and evidence of the updated tests passing also submitted with the pull request. ### Files 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None - self.json_file = "../regression_tests/example_meshes/Enviromental_Meshes/create_mesh.output2013_4_80.json" + self.json_file = "../regression_tests/example_meshes/env_meshes/grf_reprojection.json" with open (self.json_file , "r") as config_file: self.json_file = json.load(config_file) self.config = self.json_file ['config'] self.env_mesh = MeshBuilder(self.config).build_environmental_mesh() self.loaded_env_mesh = EnvironmentMesh.load_from_json(self.json_file) - # self.loaded_env_mesh.save("loaded_mesh.json") + def test_load_from_json (self): - - self.assertEqual (self.loaded_env_mesh.bounds.get_bounds() , self.env_mesh.bounds.get_bounds()) self.assertEqual (len (self.loaded_env_mesh.agg_cellboxes), len (self.env_mesh.agg_cellboxes)) @@ -31,7 +29,16 @@ def test_load_from_json (self): def test_update_agg_cellbox(self): self.loaded_env_mesh.update_cellbox(0 , {"x":"5"}) self.assertEqual (self.loaded_env_mesh.agg_cellboxes[0].get_agg_data()["x"] , "5") - + + def test_to_tif(self): + vessel_file = "../regression_tests/example_meshes/vessel_meshes/grf_reprojection.json" + vessel_mesh = None + with open (vessel_file , "r") as config_file: + vessel_file = json.load(config_file) + vessel_mesh = EnvironmentMesh.load_from_json(vessel_file) + vessel_mesh.save("./resources/fuel.tif" , format="tif" , format_params ="./resources/format_conf.json") + vessel_mesh.save("./resources/SIC.tif" , format="tif" ) + diff --git a/tests/unit_tests/test_mesh_builder.py b/tests/unit_tests/test_mesh_builder.py new file mode 100644 index 00000000..5a88797b --- /dev/null +++ b/tests/unit_tests/test_mesh_builder.py @@ -0,0 +1,46 @@ + +import unittest +import json +from polar_route.mesh_generation.environment_mesh import EnvironmentMesh +from polar_route.mesh_generation.mesh_builder import MeshBuilder +from polar_route.mesh_generation.direction import Direction + +from polar_route.mesh_generation.boundary import Boundary +class TestMeshBuilder(unittest.TestCase): + def setUp(self): + self.config = None + self.env_mesh = None + self.json_file = "../unit_tests/resources/global_grf_normal.json" + with open (self.json_file , "r") as config_file: + self.json_file = json.load(config_file) + self.config = self.json_file ['config'] + self.mesh_builder = MeshBuilder(self.config) + self.env_mesh = self.mesh_builder.build_environmental_mesh() + self.env_mesh.save("global_mesh.json") + + + + + def test_check_global_mesh (self): + # grid_width is 72 in this mesh so checking cellboxes around grid_width multiples (cellboxes at the min and max longtitude) + self.assertEqual (self.mesh_builder.neighbour_graph.is_global_mesh() , True) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[0] , self.mesh_builder.mesh.cellboxes[71]) , Direction.west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[71] , self.mesh_builder.mesh.cellboxes[0]) , Direction.east) + + + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[0] , self.mesh_builder.mesh.cellboxes[143]) , Direction.north_west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[72] , self.mesh_builder.mesh.cellboxes[71]) , Direction.south_west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[72] , self.mesh_builder.mesh.cellboxes[143]) , Direction.west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[72] , self.mesh_builder.mesh.cellboxes[215]) , Direction.north_west) + + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[143] , self.mesh_builder.mesh.cellboxes[72]) , Direction.east) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[143] , self.mesh_builder.mesh.cellboxes[70]) , Direction.south_west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[143] , self.mesh_builder.mesh.cellboxes[142]) , Direction.west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[143] , self.mesh_builder.mesh.cellboxes[214]) , Direction.north_west) + + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[1] , self.mesh_builder.mesh.cellboxes[0]) , Direction.west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[0] , self.mesh_builder.mesh.cellboxes[1]) , Direction.east) + + + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[1] , self.mesh_builder.mesh.cellboxes[72]) , Direction.north_west) + self.assertEqual (self.mesh_builder.neighbour_graph.get_neighbour_case(self.mesh_builder.mesh.cellboxes[1] , self.mesh_builder.mesh.cellboxes[74]) , Direction.north_east) \ No newline at end of file diff --git a/tests/unit_tests/test_vessel_performance.py b/tests/unit_tests/test_vessel_performance.py index abe96be6..81753587 100644 --- a/tests/unit_tests/test_vessel_performance.py +++ b/tests/unit_tests/test_vessel_performance.py @@ -2,7 +2,7 @@ from copy import copy import numpy as np from polar_route.vessel_performance.vessels.SDA import SDA, wind_resistance, wind_mag_dir, c_wind, calc_wind, fuel_eq -from polar_route.mesh_generation.aggregated_cellBox import AggregatedCellBox +from polar_route.mesh_generation.aggregated_cellbox import AggregatedCellBox from polar_route.mesh_generation.boundary import Boundary