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saco.jl
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saco.jl
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#!/bin/env julia
# Algorithm imports
using Random
using StatsBase
using ProgressMeter
using Combinatorics
import Base: isless
# Visualization imports
using Makie
using FileIO
using MeshIO
using Colors
using GeometryTypes
# Algorithm code
# ------------------
# SACO contants based on
# the results of the paper
nants = 20
ρ = .04
β = 2
ω = .1
λ = 1
τmin = .001
stp = .001
τmax = .999
Nmax = 500
mutable struct VisibleArc
satellite # sa
antenna # ea
start_time # ts
end_time # te
heuristic # ηi
end
struct Satellite # sa
start_time
end_time
end
struct Antenna # ea
start_time
end_time
end
mutable struct Ant
pheromone_value
solution
fitness
index_pool
end
# Store all candidates here
# because my PC can't handle
# adding them to each ant
candidates = Vector{VisibleArc}()
isless(s1::Satellite, s2::Satellite) = isless(s1.start_time, s2.start_time)
isless(a1::Antenna, a2::Antenna) = isless(a1.start_time, a2.start_time)
function sort!(va::VisibleArc)
i = sortperm(va.satellite)
va.satellite = va.satellite[i]
i = sortperm(va.antenna)
va.antenna = va.antenna[i]
end
function canConnect(a::Antenna, s::Satellite)
return (s.start_time >= a.start_time && s.start_time <= a.end_time) ||
(s.end_time >= a.start_time && s.end_time <= a.end_time) ||
(a.start_time <= s.start_time && a.end_time >= s.end_time) ||
(a.start_time >= s.start_time && a.end_time <= s.end_time)
end
function feasible(c, s, e)
return c.start_time < e && c.end_time > s
end
function generateRandomDataset()
# Create our visible arc
va = VisibleArc(Vector{Satellite}(), Vector{Antenna}(), τmin, τmax, [])
# Random number of satellites in [10,17]
nsatellites = rand(10:1:17)
# Random number of antennas in [5,13]
nantennas = rand(5:1:13)
while nantennas >= nsatellites
nantennas = rand(5:1:13)
end
if !isempty(ARGS) && ARGS[1] == "--quick-test"
nsatellites = 5
nantennas = 4
end
# Add random satellites throughout the visible arc
for i in 1:nsatellites
s = rand(τmin:stp:τmax-stp)
e = rand(τmin:stp:τmax)
while e <= s
e = rand(τmin:stp:τmax)
end
push!(va.satellite, Satellite(s, e))
end
# Add random antennas throughout the visible arc
for i in 1:nantennas
s = rand(τmin:stp:τmax-stp)
e = rand(τmin:stp:τmax)
while e <= s
e = rand(τmin:stp:τmax)
end
push!(va.antenna, Antenna(s, e))
end
sort!(va)
return va
end
function validCombination(c)
for a in c.antenna
for sat in c.satellite
if !canConnect(a, sat)
return false
end
end
end
return true
end
function fixCombination!(v, working_lengths)
mins = τmax
maxe = τmin
for a in v.antenna
if a.start_time < mins
mins = a.start_time
end
if a.end_time > maxe
maxe = a.end_time
end
end
for s in v.satellite
if s.start_time < mins
mins = s.start_time
end
if s.end_time > maxe
maxe = s.end_time
end
end
v.start_time = mins
v.end_time = maxe
η!(v, working_lengths)
end
function feasibleCombinations(antennas, satellites, working_lengths)
lc = Vector{VisibleArc}()
antenna_combs = collect(combinations(antennas))
satellite_combs = collect(combinations(satellites))
total = length(antenna_combs) * length(satellite_combs)
@showprogress 0.1 "Generating candidate combinations..." for a in antenna_combs
for s in satellite_combs
tmpv = VisibleArc(s, a, 0, 0, [])
if validCombination(tmpv)
fixCombination!(tmpv, working_lengths)
push!(lc, tmpv)
end
end
end
return lc
end
function initAnts(nants, l)
ants = [Ant(ω*τmax, Vector{VisibleArc}(), 0, collect(1:length(candidates))) for _=1:nants]
for ant in ants
randind = sample(ant.index_pool, l, replace=false)
append!(ant.solution, candidates[randind])
f!(ant)
end
return ants
end
function η!(visible_arc, working_lengths)
for l=1:length(working_lengths)
tsi = visible_arc.start_time
tsl = working_lengths[l]
tei = visible_arc.end_time
tel = l == length(working_lengths) ? τmax : working_lengths[l+1]-stp
Δti1 = tsl > tsi ? tsl-tsi : 0
Δti2 = tel < tei ? tei-tel : 0
Δti = Δti1 + Δti2
push!(visible_arc.heuristic, ℯ^(-λ*Δti))
end
end
function f(solution::Vector{VisibleArc})
s = 0
for i=1:length(solution)
s += solution[i].heuristic[i]
end
return s
end
function f!(ant::Ant)
ant.fitness = f(ant.solution)
return ant.fitness
end
function update!(ants, curr_best)
for ant in ants
ant.pheromone_value *= (1-ρ)
if ant.solution == curr_best
ant.pheromone_value += ρ*τmax
end
ant.pheromone_value = min(max(ant.pheromone_value, τmin), τmax)
end
end
function constructSolution!(ant, working_lengths, ants)
end_times = working_lengths .+ (τmax/length(working_lengths) - stp)
ant.solution = Vector{VisibleArc}()
for l=1:length(working_lengths)
probs = Vector{Float64}()
for ai in ant.index_pool
if feasible(candidates[ai], working_lengths[l], end_times[l])
pd = 0
for a in ants
if a != ant
for tmpai in a.index_pool
if feasible(candidates[tmpai], working_lengths[l], end_times[l])
pd += a.pheromone_value*a.fitness^β
else
break
end
end
end
end
push!(probs, ant.pheromone_value*ant.fitness^β/pd)
else
push!(probs, .0)
end
end
if sum(probs) == 0
push!(ant.solution, candidates[sample(ant.index_pool)])
else
push!(ant.solution, candidates[sample(ant.index_pool, Weights(probs))])
end
delete_indices = []
# for a in ant.solution[end].antenna
# for i=1:length(ant.index_pool)
# for a_p in candidates[ant.index_pool[i]].antenna
# if a == a_p
# push!(delete_indices, i)
# break
# end
# end
# end
# end
#deleteat!(ant.pool, findall(in(ant.solution[end].antenna), ant.pool[:].antenna))
#deleteat!(ant.index_pool, delete_indices)
#println(length(ant.index_pool))
end
end
function saco(candidates, working_lengths)
# Paper step 1
ants = initAnts(nants, length(working_lengths))
solution = Vector{VisibleArc}()
update!(ants, solution)
# Paper step 2
@showprogress 0.1 "Running the SACO algorithm..." for iteration=1:Nmax
# Paper step 3
for i = 1:length(ants)
# Paper step 4
constructSolution!(ants[i], working_lengths, ants)
# Paper step 7
if isempty(solution) || f(solution) > f!(ants[i])
# Paper step 8
solution = ants[i].solution
end
end
# Paper step 10
update!(ants, solution)
iteration += 1
end
return solution, f(solution)
end
# ------------------
# Visualization code
# ------------------
# Helper function to add the antennas on the globe
function placeAntennas!(scene, antennas, a)
antenna_pos = getAntennaPositions()
satellite_pos = getSatellitePositions()
ΔΤmax = τmax-τmin
nantennas = length(antennas)
antp = Vector{Point{3,Float32}}()
ant_colours = [RGBAf0(rand(), rand(), rand(), 1.0) for i = 1:nantennas]
arrow_colours = []
for c in ant_colours
push!(arrow_colours, c)
push!(arrow_colours, c)
end
directions = Vector{Point3f0}()
start_pos = Vector{Point3f0}()
for antenna in antennas
# Go from [τmin,τmax] to [1,360]
# which is the range of the earth mesh slices
p = ceil(Int, 359/ΔΤmax*((antenna.end_time+antenna.start_time)/2-τmin)+1)
push!(antp, antenna_pos[p])
starti = ceil(Int, 359/ΔΤmax*(antenna.start_time-τmin)+1)
endi = ceil(Int, 359/ΔΤmax*(antenna.end_time-τmin)+1)
push!(directions, satellite_pos[starti]-antenna_pos[p])
push!(directions, satellite_pos[endi]-antenna_pos[p])
push!(start_pos, antenna_pos[p])
push!(start_pos, antenna_pos[p])
end
arrows!(scene, start_pos, directions, arrowsize=0, linecolor=arrow_colours)
ant_sizes = [(0.01,0.01,0.01) for i = 1:nantennas]
ant_rot = [Vec4f0([0,0,-0.7,0.7]) for i = 1:nantennas]
scene = meshscatter!(antp, color = ant_colours, markersize = ant_sizes, marker=a, rotation=ant_rot)
end
# Helper function to add the satellites over the globe
function placeSatellites!(scene, satellites, s)
satellite_pos = getSatellitePositions()
ΔΤmax = τmax-τmin
nsats = length(satellites)
satp = Vector{Point{3,Float32}}()
sat_colours = [RGBAf0(rand(), rand(), rand(), 1.0) for i = 1:nsats]
arrow_colours = []
for c in sat_colours
push!(arrow_colours, c)
push!(arrow_colours, c)
end
directions = Vector{Point3f0}()
start_pos = Vector{Point3f0}()
for satellite in satellites
p = ceil(Int, 359/ΔΤmax*((satellite.end_time+satellite.start_time)/2-τmin)+1)
push!(satp, satellite_pos[p])
starti = ceil(Int, 359/ΔΤmax*(satellite.start_time-τmin)+1)
endi = ceil(Int, 359/ΔΤmax*(satellite.end_time-τmin)+1)
push!(directions, satellite_pos[starti]-satellite_pos[p])
push!(directions, satellite_pos[endi]-satellite_pos[p])
push!(start_pos, satellite_pos[p])
push!(start_pos, satellite_pos[p])
end
arrows!(scene, start_pos, directions, arrowsize=0, linecolor=arrow_colours)
sat_sizes = [(0.2,0.2,0.2) for i = 1:nsats]
scene = meshscatter!(satp, color = sat_colours, markersize = sat_sizes, marker=s)
end
# Helper function to generate possible antenna positions
function getAntennaPositions()
return decompose(Point3f0, GLNormalUVMesh(Sphere(Point3f0(0), 1.05f0), 360))
end
# Helper function to generate possible antenna positions
function getSatellitePositions()
return decompose(Point3f0, GLNormalUVMesh(Sphere(Point3f0(0), 1.5f0), 360))
end
# Helper function to load 3D models
function getModels()
sat = load(string(@__DIR__)*"/res/satellite.obj", GLNormalUVMesh)
antenna = load(string(@__DIR__)*"/res/antenna.obj", GLNormalUVMesh)
return sat, antenna
end
# Helper function to load a scene with Earth inside it
function blueMarble♥()
scene = Scene(resolution = (500, 500), backgroundcolor = :black, center=false)
earth = load(string(@__DIR__)*"/res/bluemarble-2048.png")
m = GLNormalUVMesh(Sphere(Point3f0(0), 1f0), 60)
mesh!(scene, m, color = earth, shading = true, show_axis = false)
return scene
end
# Helper function to add stars to the scene
function myGodItsFullOfStars!(scene)
stars = 100_000
scatter!(scene, (rand(Point3f0, stars) .- 0.5) .* 10,
glowwidth = 0.005, glow_color = :white, color = RGBA(0.8, 0.9, 0.95, 0.4),
markersize = rand(range(0.0001, stop=0.005, length=100), stars))
end
# Function to visualize the generated problem
function viz(v::VisibleArc)
scene = blueMarble♥()
myGodItsFullOfStars!(scene)
sat, ant = getModels()
placeAntennas!(scene, v.antenna, ant)
placeSatellites!(scene, v.satellite, sat)
display(scene)
return scene
end
# Function to visualize the generated solution
function viz(scene::Scene, s::Vector{VisibleArc})
antenna_pos = getAntennaPositions()
satellite_pos = getSatellitePositions()
ΔΤmax = τmax-τmin
directions = Vector{Point3f0}()
start_pos = Vector{Point3f0}()
for va in s
for antenna in va.antenna
# Go from [τmin,τmax] to [1,360]
# which is the range of the earth mesh slices
anti = ceil(Int, 359/ΔΤmax*((antenna.end_time+antenna.start_time)/2-τmin)+1)
for satellite in va.satellite
sati = ceil(Int, 359/ΔΤmax*((satellite.end_time+satellite.start_time)/2-τmin)+1)
push!(start_pos, antenna_pos[anti])
push!(directions, satellite_pos[sati]-antenna_pos[anti])
end
end
end
arrows!(scene, start_pos, directions, arrowsize=0, linecolor=:green)
end
# ------------------
function main()
l = 20 # working periods
if !isempty(ARGS) && ARGS[1] == "--quick-test"
l = 2
end
working_lengths = Array(τmin:τmax/l:τmax)
println("Generating random dataset...")
visible_arc = generateRandomDataset()
println("Number of antennas = " * string(length(visible_arc.antenna)))
println("Number of satellites = " * string(length(visible_arc.satellite)))
scene = viz(visible_arc)
println("Press enter to continue...")
readline()
global candidates = feasibleCombinations(visible_arc.antenna, visible_arc.satellite, working_lengths)
println("Generated " * string(length(candidates)) * " candidate combinations.")
solution, fitness = saco(candidates, working_lengths)
#println(solution)
viz(scene, solution)
println("Press enter to quit...")
readline()
end
@time main()