HPCC2025/mtkl_sovler.py

import random
import math
import matplotlib.pyplot as plt
import matplotlib.patches as patches
import yaml
# 固定随机种子，便于复现
random.seed(42)

num_iterations = 100000

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

H = params['H']
W = params['W']
k = params['num_cars']


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

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

# ---------------------------
# 蒙特卡洛模拟，寻找最佳方案
# ---------------------------
best_T = float('inf')
best_solution = None

for iteration in range(num_iterations):
    # 随机生成分区的行分段数与列分段数
    R = random.randint(1, 5)  # 行分段数
    C = random.randint(1, 5)  # 列分段数

    # 生成随机的行、列分割边界
    row_boundaries = sorted(random.sample(range(1, H), R - 1))
    row_boundaries = [0] + row_boundaries + [H]
    col_boundaries = sorted(random.sample(range(1, W), C - 1))
    col_boundaries = [0] + col_boundaries + [W]

    # ---------------------------
    # 根据分割边界生成所有矩形任务
    # ---------------------------
    rectangles = []
    valid_partition = True  # 标记此分区是否满足所有约束
    for i in range(len(row_boundaries) - 1):
        for j in range(len(col_boundaries) - 1):
            r1 = row_boundaries[i]
            r2 = row_boundaries[i + 1]
            c1 = col_boundaries[j]
            c2 = col_boundaries[j + 1]
            d = (r2 - r1) * (c2 - c1)  # 任务的照片数量（矩形面积）

            # 求解rho
            rho_time_limit = (flight_time_factor - trans_time_factor) / \
                (comp_time_factor - trans_time_factor)
            rho_energy_limit = (battery_energy_capacity - flight_energy_factor * d - trans_energy_factor * d) / \
                (comp_energy_factor * d - trans_energy_factor * d)
            if rho_energy_limit < 0:
                valid_partition = False
                break
            rho = min(rho_time_limit, rho_energy_limit)
            flight_time = flight_time_factor * d
            comp_time = comp_time_factor * rho * d
            trans_time = trans_time_factor * (1 - rho) * d
            bs_time = bs_time_factor * (1 - rho) * d

            # 计算任务矩形中心，用于后续车辆移动时间计算
            center_r = (r1 + r2) / 2.0
            center_c = (c1 + c2) / 2.0

            rectangles.append({
                'r1': r1, 'r2': r2, 'c1': c1, 'c2': c2,
                'd': d,
                'rho': rho,
                'flight_time': flight_time,
                'comp_time': comp_time,
                'trans_time': trans_time,
                'bs_time': bs_time,
                'center': (center_r, center_c)
            })
        if not valid_partition:
            break

    # 如果分区中存在任务不满足电池约束，则跳过该分区
    if not valid_partition:
        continue

    # ---------------------------
    # 随机将所有矩形任务分配给 k 个系统（车-机-巢）
    # ---------------------------
    system_tasks = {i: [] for i in range(k)}
    for rect in rectangles:
        system = random.randint(0, k - 1)
        system_tasks[system].append(rect)

    # ---------------------------
    # 对于每个系统，计算该系统的总完成时间 T_k：
    # T_k = 所有任务的飞行时间之和 + 车辆的移动时间
    # 车辆移动时间：车辆从区域中心出发，依次经过各任务中心（顺序采用距离区域中心的启发式排序）
    # ---------------------------
    region_center = (H / 2.0, W / 2.0)
    T_k_list = []
    for i in range(k):
        tasks = system_tasks[i]
        tasks.sort(key=lambda r: math.hypot(r['center'][0] - region_center[0],
                                            r['center'][1] - region_center[1]))
        total_flight_time = sum(task['flight_time'] for task in tasks)
        if tasks:
            # 车辆从区域中心到第一个任务中心
            car_time = math.hypot(tasks[0]['center'][0] - region_center[0],
                                  tasks[0]['center'][1] - region_center[1]) * car_time_factor
            # 依次经过任务中心
            for j in range(1, len(tasks)):
                prev_center = tasks[j - 1]['center']
                curr_center = tasks[j]['center']
                car_time += math.hypot(curr_center[0] - prev_center[0],
                                       curr_center[1] - prev_center[1]) * car_time_factor
        else:
            car_time = 0

        # 机巢的计算时间
        total_bs_time = sum(task['bs_time'] for task in tasks)
        T_k = max(total_flight_time + car_time, total_bs_time)
        T_k_list.append(T_k)

    T_max = max(T_k_list)  # 整体目标 T 为各系统中最大的 T_k

    # TODO 没有限制系统的总能耗

    if T_max < best_T:
        best_T = T_max
        best_solution = {
            'system_tasks': system_tasks,
            'T_k_list': T_k_list,
            'T_max': T_max,
            'iteration': iteration,
            'R': R,
            'C': C,
            'row_boundaries': row_boundaries,
            'col_boundaries': col_boundaries
        }

# ---------------------------
# 输出最佳方案
# ---------------------------
if best_solution is not None:
    print("最佳 T (各系统中最长的完成时间):", best_solution['T_max'])
    for i in range(k):
        num_tasks = len(best_solution['system_tasks'][i])
        print(
            f"系统 {i}: 完成时间 T = {best_solution['T_k_list'][i]}, 飞行任务数量: {num_tasks}")
else:
    print("在给定的模拟次数内未找到满足所有约束的方案。")

# 在输出最佳方案后添加详细信息
if best_solution is not None:
    print("\n各系统详细信息:")
    region_center = (H / 2.0, W / 2.0)

    for system_id, tasks in best_solution['system_tasks'].items():
        print(f"\n系统 {system_id} 的任务详情:")

        # 按距离区域中心的距离排序任务
        tasks_sorted = sorted(tasks, key=lambda r: math.hypot(r['center'][0] - region_center[0],
                                                              r['center'][1] - region_center[1]))

        if tasks_sorted:
            print(
                f"轨迹路线: 区域中心({region_center[0]:.1f}, {region_center[1]:.1f})", end="")
            current_pos = region_center
            total_car_time = 0
            total_flight_time = 0
            total_flight_energy = 0
            total_comp_energy = 0
            total_trans_energy = 0

            for i, task in enumerate(tasks_sorted, 1):
                # 计算车辆移动时间
                car_time = math.hypot(task['center'][0] - current_pos[0],
                                      task['center'][1] - current_pos[1]) * car_time_factor
                total_car_time += car_time

                # 更新当前位置
                current_pos = task['center']
                print(
                    f" -> 任务{i}({current_pos[0]:.1f}, {current_pos[1]:.1f})", end="")

                # 累加各项数据
                total_flight_time += task['flight_time']
                total_flight_energy += flight_energy_factor * task['d']
                total_comp_energy += comp_energy_factor * \
                    task['rho'] * task['d']
                total_trans_energy += trans_energy_factor * \
                    (1 - task['rho']) * task['d']

            print("\n")
            print(f"任务数量: {len(tasks_sorted)}")
            print(f"车辆总移动时间: {total_car_time:.2f} 秒")
            print(f"无人机总飞行时间: {total_flight_time:.2f} 秒")
            print(f"能耗统计:")
            print(f"  - 飞行能耗: {total_flight_energy:.2f} 分钟")
            print(f"  - 计算能耗: {total_comp_energy:.2f} 分钟")
            print(f"  - 传输能耗: {total_trans_energy:.2f} 分钟")
            print(
                f"  - 总能耗: {(total_flight_energy + total_comp_energy + total_trans_energy):.2f} 分钟")

            print("\n各任务详细信息:")
            for i, task in enumerate(tasks_sorted, 1):
                print(f"\n任务{i}:")
                print(
                    f"  位置: ({task['center'][0]:.1f}, {task['center'][1]:.1f})")
                print(f"  照片数量: {task['d']}")
                print(f"  卸载比率(ρ): {task['rho']:.2f}")
                print(f"  飞行时间: {task['flight_time']:.2f} 秒")
                print(f"  计算时间: {task['comp_time']:.2f} 秒")
                print(f"  传输时间: {task['trans_time']:.2f} 秒")
                print(f"  -- 飞行能耗: {task['d'] * flight_energy_factor:.2f} 分钟")
                print(f"  -- 计算能耗: {task['d'] * comp_energy_factor:.2f} 分钟")
                print(f"  -- 传输能耗: {task['d'] * trans_energy_factor:.2f} 分钟")
                print(f"  基站计算时间: {task['bs_time']:.2f} 秒")
        else:
            print("该系统没有分配任务")
        print("-" * 50)

if best_solution is not None:
    plt.rcParams['font.family'] = ['sans-serif']
    plt.rcParams['font.sans-serif'] = ['SimHei']
    fig, ax = plt.subplots()
    ax.set_xlim(0, W)
    ax.set_ylim(0, H)
    ax.set_title("区域划分与车-机-巢系统覆盖")
    ax.set_xlabel("区域宽度")
    ax.set_ylabel("区域高度")

    # 定义若干颜色以区分不同系统（系统编号从0开始）
    colors = ['red', 'blue', 'green', 'orange', 'purple', 'cyan', 'magenta']

    # 绘制区域中心
    region_center = (W / 2.0, H / 2.0)  # 注意：x对应宽度，y对应高度
    ax.plot(region_center[0], region_center[1],
            'ko', markersize=8, label="区域中心")

    # 绘制每个任务区域（矩形）及在矩形中心标注系统编号与卸载比率 ρ
    for system_id, tasks in best_solution['system_tasks'].items():
        # 重新按车辆行驶顺序排序（启发式：以任务中心距离区域中心的距离排序）
        tasks_sorted = sorted(tasks, key=lambda task: math.hypot(
            (task['c1'] + (task['c2'] - task['c1']) / 2.0) - region_center[0],
            (task['r1'] + (task['r2'] - task['r1']) / 2.0) - region_center[1]
        ))

        for i, task in enumerate(tasks_sorted, 1):
            # 绘制矩形：左下角坐标为 (c1, r1)，宽度为 (c2 - c1)，高度为 (r2 - r1)
            rect = patches.Rectangle((task['c1'], task['r1']),
                                     task['c2'] - task['c1'],
                                     task['r2'] - task['r1'],
                                     linewidth=2,
                                     edgecolor=colors[system_id % len(colors)],
                                     facecolor='none')
            ax.add_patch(rect)
            # 计算矩形中心
            center_x = task['c1'] + (task['c2'] - task['c1']) / 2.0
            center_y = task['r1'] + (task['r2'] - task['r1']) / 2.0
            # 在矩形中心标注：系统编号、执行顺序和卸载比率 ρ
            ax.text(center_x, center_y, f"S{system_id}-{i}\nρ={task['rho']:.2f}",
                    color=colors[system_id % len(colors)],
                    ha='center', va='center', fontsize=10, fontweight='bold')

    # 添加图例
    ax.legend()
    # 反转 y 轴使得行号从上到下递增（如需，可取消）
    ax.invert_yaxis()
    plt.show()
else:
    print("没有找到满足约束条件的方案，无法进行可视化。")