started performance plot

.gitignore

@@ -41,3 +41,7 @@ codegen/
 
 # Sandbox contents
 sandbox/*
+
+# Videos
+*.mp4
+*.avi

@agent/agent.m

@@ -1,7 +1,4 @@
 classdef agent
-    properties (Access = public)
-        performance = NaN; % current individual sensor performance on partition
-    end
     properties (SetAccess = private, GetAccess = public)
         % Identifiers
         index = NaN;

@miSim/initialize.m

@@ -15,7 +15,7 @@ function obj = initialize(obj, domain, objective, agents, timestep, partitoningF
 
     % Define simulation time parameters
     obj.timestep = timestep;
-    obj.maxIter = maxIter;
+    obj.maxIter = maxIter - 1;
 
     % Define domain
     obj.domain = domain;
@@ -33,6 +33,14 @@ function obj = initialize(obj, domain, objective, agents, timestep, partitoningF
     % Compute adjacency matrix
     obj = obj.updateAdjacency();
 
+    % Set up times to iterate over
+    obj.times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
+    obj.partitioningTimes = obj.times(obj.partitioningFreq:obj.partitioningFreq:size(obj.times, 1));
+
+    % Prepare performance data store (at t = 0, all have 0 performance)
+    obj.fPerf = figure;
+    obj.perf = [zeros(size(obj.agents, 1) + 1, 1), NaN(size(obj.agents, 1) + 1, size(obj.partitioningTimes, 1) - 1)];
+
     % Create initial partitioning
     obj = obj.partition();
 

@miSim/miSim.m

@@ -17,13 +17,19 @@ classdef miSim
     end
 
     properties (Access = private)
+        % Sim
+        t = NaN; % current sim time
+        perf; % sensor performance timeseries array
+        times;
+        partitioningTimes;
+
         % Plot objects
         f = firstPlotSetup(); % main plotting tiled layout figure
         connectionsPlot; % objects for lines connecting agents in spatial plots
         graphPlot; % objects for abstract network graph plot
         partitionPlot; % objects for partition plot
 
-        fPerf = figure; % performance plot figure
+        fPerf; % performance plot figure
         performancePlot; % objects for sensor performance plot
 
         % Indicies for various plot types in the main tiled layout figure

@miSim/partition.m

@@ -22,15 +22,15 @@ function obj = partition(obj)
 
     % Get highest performing agent's index
     [m,n,~] = size(agentInds);
-    [i,j] = ndgrid(1:m, 1:n);
+    [jj,kk] = ndgrid(1:m, 1:n);
-    obj.partitioning = agentInds(sub2ind(size(agentInds), i, j, idx));
+    obj.partitioning = agentInds(sub2ind(size(agentInds), jj, kk, idx));
 
     % Get individual agent sensor performance
+    nowIdx = [0; obj.partitioningTimes] == obj.t;
     for ii = 1:size(obj.agents, 1)
-        obj.agents{ii}.performance = sum(agentPerformances(sub2ind(size(agentInds), i, j, idx)), 'all');
+        obj.perf(ii, nowIdx) = sum(agentPerformances(sub2ind(size(agentInds), jj, kk, ii)), 'all');
     end
 
     % Current total performance
-    sum(arrayfun(@(x) x.performance, [obj.agents{:}]))
+    obj.perf(end, nowIdx) = sum(obj.perf(1:(end - 1), nowIdx));
-    obj.performance = sum(max(agentPerformances(:, :, 1:(end - 1)), [], 3), 'all'); % do not count final "non-assignment" layer in computing cumulative performance
 end

@miSim/plot.m

@@ -37,4 +37,7 @@ function obj = plot(obj)
         ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
         zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
     end
+
+    % Plot performance
+    obj = obj.plotPerformance();
 end

@miSim/plotPerformance.m

@@ -0,0 +1,28 @@
+function obj = plotPerformance(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'miSim')};
+    end
+
+    axes(obj.fPerf);
+    title(obj.fPerf.Children(1), "Sensor Performance");
+    xlabel(obj.fPerf.Children(1), 'Time (s)');
+    ylabel(obj.fPerf.Children(1), 'Sensor Performance');
+    grid(obj.fPerf.Children(1), 'on');
+
+    % Plot current cumulative performance
+    hold(obj.fPerf.Children(1), 'on');
+    o = plot(obj.fPerf.Children(1), obj.perf(end, :));
+    hold(obj.fPerf.Children(1), 'off');
+
+    % Plot current agent performance
+    for ii = 1:(size(obj.perf, 1) - 1)
+        hold(obj.fPerf.Children(1), 'on');
+        o = [o; plot(obj.fPerf.Children(1), obj.perf(ii, :))];
+        hold(obj.fPerf.Children(1), 'off');
+    end
+
+    obj.performancePlot = o;
+end

@miSim/run.m

@@ -6,22 +6,18 @@ function [obj] = run(obj)
         obj (1, 1) {mustBeA(obj, 'miSim')};
     end
 
-    % Set up times to iterate over
-    times = linspace(0, obj.timestep * obj.maxIter, obj.maxIter+1)';
-    partitioningTimes = times(obj.partitioningFreq:obj.partitioningFreq:size(times, 1));
-
     % Start video writer
     v = obj.setupVideoWriter();
     v.open();
 
-    for ii = 1:size(times, 1)
+    for ii = 1:size(obj.times, 1)
         % Display current sim time
-        t = times(ii);
+        obj.t = obj.times(ii);
-        fprintf("Sim Time: %4.2f (%d/%d)\n", t, ii, obj.maxIter)
+        fprintf("Sim Time: %4.2f (%d/%d)\n", obj.t, ii, obj.maxIter + 1);
 
         % Check if it's time for new partitions
         updatePartitions = false;
-        if ismember(t, partitioningTimes)
+        if ismember(obj.t, obj.partitioningTimes)
             updatePartitions = true;
             obj = obj.partition();
         end

@miSim/setupVideoWriter.m

@@ -9,7 +9,7 @@ function v = setupVideoWriter(obj)
     if ispc || ismac
         v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'MPEG-4');
     elseif isunix
-        v = VideoWriter(fullfile('sandbox', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI');
+        v = VideoWriter(fullfile('.', strcat(string(datetime('now'), 'yyyy_MM_dd_HH_mm_ss'), '_miSimHist')), 'Motion JPEG AVI');
     end
     
     v.FrameRate = 1 / obj.timestep;

@miSim/updatePlots.m

@@ -36,6 +36,17 @@ function [obj] = updatePlots(obj, updatePartitions)
         ylim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
         zlim(obj.f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
     end
-
     drawnow;
+    
+    % Update performance plot
+    if updatePartitions
+        nowIdx = [0; obj.partitioningTimes] == obj.t;
+        % set(obj.performancePlot(1), 'YData', obj.perf(end, 1:find(nowIdx)));
+        obj.performancePlot(1).YData(nowIdx) = obj.perf(end, nowIdx);
+        for ii = 2:size(obj.performancePlot, 1)
+            obj.performancePlot(ii).YData(nowIdx) = obj.perf(ii, nowIdx);
+        end
+        drawnow;
+    end
+
 end

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/vQEWllkHYzJ8MP7NOsUYZ2vAZCAd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/SIL3u_W39LwE7HHYsarfFmr9gVQ/vQEWllkHYzJ8MP7NOsUYZ2vAZCAp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="plotPerformance.m" type="File"/>

test/test_miSim.m

@@ -333,7 +333,7 @@ classdef test_miSim < matlab.unittest.TestCase
             tc.testClass = tc.testClass.initialize(tc.domain, tc.domain.objective, tc.agents, tc.timestep, tc.partitoningFreq, tc.maxIter, tc.obstacles);
 
             % Run simulation loop
-            tc.testClass = tc.testClass.run(f);
+            tc.testClass = tc.testClass.run();
         end
         function test_basic_partitioning(tc)
             % place agents a fixed distance +/- X from the domain's center