Waypoint heatmap visualization

Co-Authored-By: Puvikaran Santhirasegaram <[email protected]>

Assets/Scripts/GlobalSettings.cs

@@ -60,6 +60,7 @@ public static class GlobalSettings {
 
         public static readonly int TicksBeforeExplorationHeatMapCold = 10 * 60 * 4;
         public static readonly int TicksBeforeCoverageHeatMapCold = 10 * 60 * 4;
+        public static readonly int TicksBeforeWaypointCoverageHeatMapCold = 10 * 60 * 4;
 
         public static bool IsRosMode = false;
 

Assets/Scripts/Map/Vertex.cs

@@ -10,9 +10,9 @@ public class Vertex : ICloneable
     {
         private readonly HashSet<Vertex> _neighbors = new HashSet<Vertex>();
         public float Weight { get; }
-        public int LastTimeVisitedTick { get; private set; }
+        public int LastTimeVisitedTick { get; private set; } = 0;
         public Vector2Int Position { get; }
-        public Color Color { get; }
+        public Color Color { get; set;}
 
         public Vertex(float weight, Vector2Int position, Color? color = null)
         {

Assets/Scripts/Map/Visualization/WaypointHeatMapVisualization.cs

@@ -0,0 +1,12 @@
+using Maes.Statistics;
+
+namespace Maes.Map.Visualization
+{
+    public class WaypointHeatMapVisualizationMode : IPatrollingVisualizationMode
+    {
+        public void UpdateVisualization(PatrollingVisualizer visualizer, int currentTick)
+        {
+            visualizer.ShowWaypointHeatMap(currentTick);
+        }
+    }
+}

Assets/Scripts/Statistics/PatrollingVisualizer.cs

@@ -16,6 +16,8 @@ public class PatrollingVisualizer : MonoBehaviour, IVisualizer<Tile> {
 
         private List<GameObject> _visualizers = new List<GameObject>();
 
+        private Dictionary<Vertex, GameObject> _vertexVisualizers = new Dictionary<Vertex, GameObject>();
+
         public void SetSimulationMap(SimulationMap<Tile> simulationMap, Vector3 offset)
         {
             // We have to offset this for some reason ¯\_(ツ)_/¯
@@ -40,6 +42,7 @@ private void CreateVisualizers()
                 var meshRenderer = vertexVisualizer.GetComponent<MeshRenderer>();
                 meshRenderer.material.color = vertex.Color;
                 _visualizers.Add(vertexVisualizer);
+                _vertexVisualizers.Add(vertex, vertexVisualizer);
 
                 foreach (var otherVertex in vertex.Neighbors) {
                     var edgeVisualizer = GameObject.Instantiate(EdgeVisualizer, transform);
@@ -52,5 +55,16 @@ private void CreateVisualizers()
                 }
             }
         }
+
+        public void ShowWaypointHeatMap(int currentTick){
+
+            foreach (var vertex in _patrollingMap.Verticies)
+            {
+                var ticksSinceLastExplored = currentTick - vertex.LastTimeVisitedTick;
+                float coldness = Mathf.Min((float) ticksSinceLastExplored / (float) GlobalSettings.TicksBeforeWaypointCoverageHeatMapCold, 1.0f);
+                var color = Color32.Lerp(ExplorationVisualizer.WarmColor, ExplorationVisualizer.ColdColor, coldness);
+                _vertexVisualizers[vertex].GetComponent<MeshRenderer>().material.color = color;
+            }
+        }
     }
 }

Assets/Scripts/Trackers/PatrollingTracker.cs

@@ -6,7 +6,6 @@
 using Maes.Map.Visualization;
 using Maes.Robot;
 using Maes.Statistics;
-
 using MAES.Trackers;
 
 using UnityEngine;
@@ -19,7 +18,7 @@ public class PatrollingTracker : Tracker<Tile, PatrollingVisualizer, IPatrolling
         private PatrollingSimulation PatrollingSimulation { get; }
         private PatrollingMap Map { get;}
         private Dictionary<Vector2Int, VertexDetails> Vertices { get; }
-        
+
         public int WorstGraphIdleness { get; private set; }
         // TODO: TotalDistanceTraveled is not set any where in the code, don't know how to calculate it yet
         public float TotalDistanceTraveled { get; private set; } = 0;
@@ -39,7 +38,7 @@ public PatrollingTracker(SimulationMap<Tile> collisionMap, PatrollingVisualizer
             Map = map;
             Vertices = map.Verticies.ToDictionary(vertex => vertex.Position, vertex => new VertexDetails(vertex));
 
-            _currentVisualizationMode = new PatrollingDummyVisualizationMode();
+            _currentVisualizationMode = new WaypointHeatMapVisualizationMode();
         }
 
         public void OnReachedVertex(Vertex vertex, int atTick)
@@ -83,6 +82,10 @@ protected override RayTracingMap<Tile>.CellFunction RayTracingMapCellFunction(Sl
             return (x, y) => true; 
         }
 
+        public void ShowWaypointHeatMap()
+        {
+            SetVisualizationMode(new WaypointHeatMapVisualizationMode());
+        }
         private IReadOnlyList<int> GetEachVertexIdleness()
         {
             var currentTick = PatrollingSimulation.SimulatedLogicTicks;
@@ -94,12 +97,4 @@ private void SetCompletedCycles()
             CompletedCycles = Vertices.Values.Select(v => v.NumberOfVisits).Min();
         }
     }
-
-    public class PatrollingDummyVisualizationMode : IPatrollingVisualizationMode
-    {
-        public void UpdateVisualization(PatrollingVisualizer visualizer, int currentTick)
-        {
-
-        }
-    }
 }

Assets/Scripts/Trackers/Tracker.cs

@@ -20,7 +20,7 @@ public abstract class Tracker<TCell, TVisualizer, TVisualizationMode> : ITracker
     {
         private CoverageCalculator _coverageCalculator;
 
-        private TVisualizer _visualizer;
+        protected TVisualizer _visualizer;
 
         protected SimulationMap<TCell> _map;
         private RayTracingMap<TCell> _rayTracingMap;

Assets/Scripts/UI/SimulationInfoUIControllers/PatrollingInfoUIController.cs

@@ -21,12 +21,21 @@ public sealed class PatrollingInfoUIController : SimulationInfoUIControllerBase<
         public TextMeshProUGUI WorstGraphIdlenessText;
         public TextMeshProUGUI AverageGraphIdlenessText;
 
+        public Button WaypointHeatMapButton;
 
         protected override void AfterStart()
         {
             StoppingCriteriaToggle.onValueChanged.AddListener(delegate {
                 //TODO: when the stopping criteria is toggled
             });
+
+            WaypointHeatMapButton.onClick.AddListener(() => {
+                ExecuteAndRememberMapVisualizationModification(sim => {
+                    if (sim != null) {
+                        sim.PatrollingTracker.ShowWaypointHeatMap();
+                    }
+                });
+            });
         }
 
         protected override void NotifyNewSimulation(PatrollingSimulation newSimulation)
@@ -61,5 +70,7 @@ private void SetWorstGraphIdleness(float idleness) =>
 
         private void SetAverageGraphIdleness(float idleness) => 
             AverageGraphIdlenessText.text = $"Average graph idleness: {idleness} ticks";
+
+
     }
 }