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mod animal_runner;
mod filter_runner;
mod measurement;
mod uav_runner;

pub use self::measurement::Measurement;

use self::animal_runner::AnimalRunner;
use self::measurement::MeasurementModel;
use self::filter_runner::{FilterConfig, FilterRunner};
use self::uav_runner::UavRunner;

use uav::UavState;
use animal::AnimalState;

use SimulationConfig;

/// A snapshot of the simulation at a particular point in time
pub struct SimulationFrame {
    /// The state of each UAV in the simulation
    pub uavs: Vec<UavState>,

    /// A list of all targets (with particle filter information) in the simulation
    pub targets: Vec<FilterFrame>,
}

/// A frame representing a single target (i.e. animal) at a particular point in time
pub struct FilterFrame {
    /// The animal's true state
    pub animal_state: AnimalState,

    /// The current list of particles from the particle filter
    pub particles: Vec<AnimalState>,

    /// An estimate of the animal's true state based on the mean value of all the particles
    pub particles_mean: AnimalState,
}

/// A single target (i.e. animal) in the simulation runner
struct Tracker {
    animal: AnimalRunner,
    // TODO: Allow a different signal model to be used for each UAV
    measurement: MeasurementModel,
    filter: FilterRunner,
}

/// A structure for running a configured simulation
pub struct SimulationRunner {
    pub uavs: Vec<UavRunner>,
    trackers: Vec<Tracker>,
}

impl SimulationRunner {
    /// Create a new simulation runner using the provided config and list of animals
    pub fn new(config: &SimulationConfig) -> SimulationRunner {
        let trackers = config.animals.iter().map(|&animal| {
            let filter_config = FilterConfig {
                num_particles: config.num_particles,
                particle_noise: config.particle_noise,
                map_size: config.map_size,
                animal: animal,
                signal: config.uavs[0].receiver,
            };

            Tracker {
                animal: AnimalRunner::new(animal),
                measurement: MeasurementModel::new(config.uavs[0].receiver),
                filter: FilterRunner::new_initial(filter_config),
            }
        }).collect();

        SimulationRunner {
            uavs: config.uavs.iter().map(|&uav| UavRunner::new(uav)).collect(),
            trackers: trackers,
        }
    }

    /// Get a snapshot of the current simulation frame
    pub fn snapshot(&self) -> SimulationFrame {
        let uavs = self.uavs.iter().map(|uav| uav.snapshot()).collect();

        let targets = self.trackers.iter().map(|tracker| {
            let particles = tracker.filter.snapshot();
            let particles_mean = particles_mean(particles);

            FilterFrame {
                animal_state: tracker.animal.snapshot(),
                particles: particles.into(),
                particles_mean: particles_mean,
            }
        }).collect();

        SimulationFrame {
            uavs: uavs,
            targets: targets,
        }
    }

    /// Checks if the new config is compatible with the old config.
    pub fn config_compatible(&self, config: &SimulationConfig) -> bool {
        self.trackers.len() == config.animals.len() && self.uavs.len() == config.uavs.len()
    }

    /// Performs a single step in the simulation
    pub fn step(&mut self, dt: f32) -> SimulationFrame {
        for uav in &mut self.uavs {
            uav.step(dt);
        }

        for tracker in &mut self.trackers {
            let animal = tracker.animal.step(dt);

            for uav in &self.uavs {
                let measurement = tracker.measurement.generate(uav.snapshot(), animal.position);
                tracker.filter.step(measurement, dt);
            }
        }

        self.snapshot()
    }

    /// Updates the config of all subcomponents (if compabible)
    pub fn update_config(&mut self, config: &SimulationConfig) {
        if !self.config_compatible(config) {
            return;
        }

        for (uav, &uav_config) in self.uavs.iter_mut().zip(&config.uavs) {
            uav.update_config(uav_config);
        }

        for (tracker, &animal_config) in self.trackers.iter_mut().zip(&config.animals) {
            let filter_config = FilterConfig {
                num_particles: config.num_particles,
                particle_noise: config.particle_noise,
                map_size: config.map_size,
                animal: animal_config,
                signal: config.uavs[0].receiver,
            };

            tracker.animal.update_config(animal_config);
            tracker.measurement = MeasurementModel::new(config.uavs[0].receiver);
            tracker.filter.update_config(filter_config);
        }
    }
}

/// Calculates the mean of a list of particle
pub fn particles_mean(particles: &[AnimalState]) -> AnimalState {
    let len = particles.len() as f32;

    let position_sum = particles.iter().map(|x| x.position)
        .fold([0.0, 0.0, 0.0], |acc, x| [acc[0] + x[0], acc[1] + x[1], acc[2] + x[2]]);
    let velocity_sum = particles.iter().map(|x| x.velocity)
        .fold([0.0, 0.0], |acc, x| [acc[0] + x[0], acc[1] + x[1]]);

    AnimalState {
        position: [position_sum[0] / len, position_sum[1] / len, position_sum[2] / len],
        velocity: [velocity_sum[0] / len, velocity_sum[1] / len],
    }
}