HPCC2025/env_partion.py

import gymnasium as gym
from gymnasium import spaces
import numpy as np
import yaml
import math
from mTSP_solver import mTSP
from GA.ga import GA


class PartitionEnv(gym.Env):
    """
    自定义环境，分为两阶段：
    区域切分，每一次切分都是(0, 1)之间的连续值
    """

    def __init__(self, config=None):
        super(PartitionEnv, self).__init__()
        ##############################
        # 可能需要手动修改的超参数
        ##############################
        self.params = 'params2'
        self.ORI_ROW_CUTS = [0, 0.2, 0.4, 0.7, 1]
        self.ORI_COL_CUTS = [0, 0.5, 1]
        self.CUT_NUM = 4
        self.ROW_CUT_LIMIT = 3
        self.COL_CUT_LIMIT = 1
        self.BASE_LINE = 10000
        self.mTSP_STEPS = 10000

        # 定义动作空间：全部动作均为 1 维连续 [0,1]
        self.action_space = spaces.Box(
            low=0.0, high=1.0, shape=(1,), dtype=np.float32)

        # 定义观察空间为8维向量
        # 前 4 维表示已决策的切分值（未决策部分为 0）
        self.observation_space = spaces.Box(
            low=0.0, high=1.0, shape=(self.CUT_NUM + 4,), dtype=np.float32)

        self.partition_step = 0
        self.ori_row_cuts = self.ORI_ROW_CUTS[:]
        self.ori_col_cuts = self.ORI_COL_CUTS[:]
        self.rectangles = []

        # 车队参数设置
        with open(self.params + '.yml', 'r', encoding='utf-8') as file:
            params = yaml.safe_load(file)

        self.H = params['H']
        self.W = params['W']
        self.center = (self.H/2, self.W/2)
        self.num_cars = params['num_cars']

        self.flight_time_factor = params['flight_time_factor']
        self.comp_time_factor = params['comp_time_factor']
        self.trans_time_factor = params['trans_time_factor']
        self.car_time_factor = params['car_time_factor']
        self.bs_time_factor = params['bs_time_factor']

        self.flight_energy_factor = params['flight_energy_factor']
        self.comp_energy_factor = params['comp_energy_factor']
        self.trans_energy_factor = params['trans_energy_factor']
        self.battery_energy_capacity = params['battery_energy_capacity']

    def reset(self, seed=None, options=None):
        # 重置所有变量，回到切分阶段（phase 0）
        self.phase = 0
        self.partition_step = 0
        self.ori_row_cuts = self.ORI_ROW_CUTS[:]
        self.ori_col_cuts = self.ORI_COL_CUTS[:]
        self.rectangles = []

        # 状态：前 4 维为 partition_values，其余为区域访问状态（初始全0）
        state = np.array(self.ori_row_cuts + self.ori_col_cuts)

        return state

    def step(self, action):
        # 在所有阶段动作均为 1 维连续动作，取 action[0]
        adjust = float(action[0])
        valid_adjust = True

        if self.partition_step < self.ROW_CUT_LIMIT:
            row_cut = self.ori_row_cuts[self.partition_step + 1]
            new_row_cut = row_cut + adjust
            self.ori_row_cuts[self.partition_step + 1] = new_row_cut

            if self.ori_row_cuts[self.partition_step] < new_row_cut < self.ori_row_cuts[self.partition_step + 2]:
                pass
            else:
                valid_adjust = False
                reward = -100
        else:
            col_idx = self.partition_step - self.ROW_CUT_LIMIT
            col_cut = self.ori_col_cuts[col_idx + 1]
            new_col_cut = col_cut + adjust
            self.ori_col_cuts[col_idx + 1] = new_col_cut

            if self.ori_col_cuts[col_idx] < new_col_cut < self.ori_col_cuts[col_idx + 2]:
                pass
            else:
                valid_adjust = False
                reward = -100

        self.partition_step += 1

        state = np.array(self.ori_row_cuts + self.ori_col_cuts)

        # 出现无效调整，直接结束
        if not valid_adjust:
            return state, reward, True, False, {}
        # 调整合理，计算当前时间
        else:
            rectangles = self.if_valid_partition()

            if not rectangles:
                reward = -10
                return state, reward, True, False, {}
            else:
                # 继续进行路径规划
                # 使用遗传算法解多旅行商
                best_time, best_path = self.ga_solver(rectangles)
                # print(best_time)
                # print(best_path)

                reward = self.BASE_LINE / best_time
                if self.partition_step < self.CUT_NUM:
                    done = False
                else:
                    done = True
                    reward = reward * 3

                return state, reward, done, False, best_path

    def if_valid_partition(self):
        rectangles = []
        for i in range(len(self.ori_row_cuts) - 1):
            for j in range(len(self.ori_col_cuts) - 1):
                d = (self.ori_col_cuts[j+1] - self.ori_col_cuts[j]) * self.W * \
                    (self.ori_row_cuts[i+1] -
                        self.ori_row_cuts[i]) * self.H
                rho_time_limit = (self.flight_time_factor - self.trans_time_factor) / \
                    (self.comp_time_factor - self.trans_time_factor)
                rho_energy_limit = (self.battery_energy_capacity - self.flight_energy_factor * d - self.trans_energy_factor * d) / \
                    (self.comp_energy_factor * d -
                        self.trans_energy_factor * d)
                if rho_energy_limit < 0:
                    return []
                rho = min(rho_time_limit, rho_energy_limit)

                flight_time = self.flight_time_factor * d
                bs_time = self.bs_time_factor * (1 - rho) * d

                rectangles.append({
                    'center': ((self.ori_row_cuts[i] + self.ori_row_cuts[i+1]) * self.H / 2, (self.ori_col_cuts[j+1] + self.ori_col_cuts[j]) * self.W / 2),
                    'flight_time': flight_time,
                    'bs_time': bs_time,
                })
        return rectangles
    
    # def q_learning_solver(self):
        # 使用q_learning解多旅行商
        # cities: [[x1, x2, x3...], [y1, y2, y3...]] 城市坐标
        # rec_center_lt = [rec_info['center']
        #                  for rec_info in rectangles]
        # cities = np.column_stack(rec_center_lt)
        # cities = np.column_stack((self.center, cities))

        # center_idx = []
        # for i in range(self.num_cars - 1):
        #     cities = np.column_stack((cities, self.center))
        #     center_idx.append(cities.shape[1] - 1)

        # tsp = mTSP(params=self.params, num_cities=cities.shape[1], cities=cities, num_cars=self.num_cars,
        #            center_idx=center_idx, rectangles=rectangles)

        # best_time, best_path = tsp.train(self.mTSP_STEPS)

    def ga_solver(self, rectangles):
        cities = [self.center]
        for rec in rectangles:
            cities.append(rec['center'])
        cities = np.array(cities)

        center_idx = [0]
        for i in range(self.num_cars - 1):
            cities = np.row_stack((cities, self.center))
            center_idx.append(cities.shape[0] - 1)

        ga = GA(num_drones=self.num_cars, num_city=cities.shape[0], num_total=20,
                data=cities, to_process_idx=center_idx, rectangles=rectangles)
        best_path, best_time = ga.run()
        return best_time, best_path

    def render(self):
        if self.phase == 1:
            print("Phase 1: Initialize maze environment.")
            print(f"Partition values so far: {self.partition_values}")
            print(f"Motorcade positon: {self.car_pos}")
            # input('1111')
        elif self.phase == 2:
            print("Phase 2: Play maze.")
            print(f'Motorcade trajectory: {self.car_traj}')
            # input('2222')