""" Visualization: static grid image + animated GIF of the planned path. """ import io from typing import List, Optional, Tuple import matplotlib matplotlib.use("Agg") import matplotlib.pyplot as plt import matplotlib.patches as mpatches from matplotlib.colors import ListedColormap import numpy as np from PIL import Image from .grid_world import GridWorld from .planner import PlanResult # Cell type → RGBA color CELL_COLORS = { "free": "#F5F5F5", "obstacle": "#2C2C2C", "zone_a": "#A8D5FF", # light blue "zone_b": "#A8FFB8", # light green "zone_c": "#FFD6A8", # light orange "danger": "#FFAAAA", # light red "goal": "#FFE066", # yellow "start": "#D0B4FF", # purple } PATH_COLOR = "#1A73E8" CYCLE_COLOR = "#E83A1A" START_MARKER = "#7B2FBE" def _draw_grid(ax, grid: GridWorld, path: Optional[List[Tuple[int, int]]] = None, cycle_start_idx: int = 0, step: int = -1, show_path: bool = True): n = grid.n ax.set_xlim(0, n) ax.set_ylim(0, n) ax.set_aspect("equal") ax.set_xticks(range(n + 1)) ax.set_yticks(range(n + 1)) ax.tick_params(left=False, bottom=False, labelleft=False, labelbottom=False) ax.grid(True, color="#CCCCCC", linewidth=0.5) # Draw cells for r in range(n): for c in range(n): cell_type = grid.grid[r][c] color = CELL_COLORS.get(cell_type, "#F5F5F5") rect = mpatches.FancyBboxPatch( (c + 0.05, n - r - 1 + 0.05), 0.9, 0.9, boxstyle="round,pad=0.02", facecolor=color, edgecolor="#AAAAAA", linewidth=0.8, ) ax.add_patch(rect) # label if cell_type not in ("free", "obstacle"): short = {"zone_a": "A", "zone_b": "B", "zone_c": "C", "danger": "⚠", "goal": "★", "start": "S"}.get(cell_type, "") ax.text(c + 0.5, n - r - 0.5, short, ha="center", va="center", fontsize=8, color="#444444", fontweight="bold") # Start marker sr, sc = grid.start ax.plot(sc + 0.5, n - sr - 0.5, "o", color=START_MARKER, markersize=10, zorder=5, markeredgecolor="white", markeredgewidth=1.5) if not show_path or path is None or len(path) == 0: return static_mode = (step < 0) display_path = path if static_mode else path[:step + 1] def to_xy(pos): r, c = pos return c + 0.5, n - r - 0.5 # In static mode show full path split by color; in animation mode show # only the portion reached so far. if static_mode: prefix = display_path[:cycle_start_idx + 1] cycle = display_path[cycle_start_idx:] if len(prefix) > 1: xs, ys = zip(*[to_xy(p) for p in prefix]) ax.plot(xs, ys, "-o", color=PATH_COLOR, linewidth=2, markersize=4, zorder=4, alpha=0.85) if len(cycle) > 1: xs, ys = zip(*[to_xy(p) for p in cycle]) ax.plot(xs, ys, "-o", color=CYCLE_COLOR, linewidth=2.5, markersize=4, zorder=4, alpha=0.9) # Robot at end of path if display_path: rx, ry = to_xy(display_path[-1]) ax.plot(rx, ry, "D", color="#FF6B00", markersize=9, zorder=6, markeredgecolor="white", markeredgewidth=1.5) else: # Animation: colour prefix blue, cycle red, as steps accumulate if step < cycle_start_idx: # Still in prefix seg = display_path if len(seg) > 1: xs, ys = zip(*[to_xy(p) for p in seg]) ax.plot(xs, ys, "-o", color=PATH_COLOR, linewidth=2, markersize=4, zorder=4, alpha=0.85) else: prefix_seg = path[:cycle_start_idx + 1] cycle_seg = display_path[cycle_start_idx:] if len(prefix_seg) > 1: xs, ys = zip(*[to_xy(p) for p in prefix_seg]) ax.plot(xs, ys, "-o", color=PATH_COLOR, linewidth=2, markersize=4, zorder=4, alpha=0.85) if len(cycle_seg) > 1: xs, ys = zip(*[to_xy(p) for p in cycle_seg]) ax.plot(xs, ys, "-o", color=CYCLE_COLOR, linewidth=2.5, markersize=4, zorder=4, alpha=0.9) if display_path: rx, ry = to_xy(display_path[-1]) ax.plot(rx, ry, "D", color="#FF6B00", markersize=9, zorder=6, markeredgecolor="white", markeredgewidth=1.5) def make_legend(): items = [ mpatches.Patch(color=CELL_COLORS["zone_a"], label="Zone A"), mpatches.Patch(color=CELL_COLORS["zone_b"], label="Zone B"), mpatches.Patch(color=CELL_COLORS["zone_c"], label="Zone C"), mpatches.Patch(color=CELL_COLORS["danger"], label="Danger"), mpatches.Patch(color=CELL_COLORS["goal"], label="Goal"), mpatches.Patch(color=CELL_COLORS["obstacle"],label="Obstacle"), mpatches.Patch(color=PATH_COLOR, label="Prefix path"), mpatches.Patch(color=CYCLE_COLOR, label="Cycle (repeating)"), ] return items def render_static(grid: GridWorld, result: PlanResult, dpi: int = 120) -> Image.Image: """Render the full planned path as a static PIL image.""" fig, ax = plt.subplots(figsize=(5, 5)) _draw_grid(ax, grid, result.path, result.cycle_start_idx) ax.legend(handles=make_legend(), loc="upper right", fontsize=6, framealpha=0.85, ncol=2) title = "PLAN FOUND" if result.success else "NO PLAN" ax.set_title(title, fontsize=11, fontweight="bold", color="#1A73E8" if result.success else "#CC0000") fig.tight_layout() buf = io.BytesIO() fig.savefig(buf, format="png", dpi=dpi, bbox_inches="tight") plt.close(fig) buf.seek(0) return Image.open(buf).copy() def render_animation(grid: GridWorld, result: PlanResult, dpi: int = 100, fps: int = 4) -> Optional[str]: """ Render an animated GIF of the robot following the path. Returns file path to a temp GIF, or None on failure. """ if not result.success or not result.path: return None frames = [] path = result.path n_steps = len(path) for step in range(n_steps): fig, ax = plt.subplots(figsize=(5, 5)) _draw_grid(ax, grid, path, result.cycle_start_idx, step=step) phase = "CYCLE" if step >= result.cycle_start_idx else "PREFIX" ax.set_title(f"Step {step + 1}/{n_steps} [{phase}]", fontsize=10) fig.tight_layout() buf = io.BytesIO() fig.savefig(buf, format="png", dpi=dpi, bbox_inches="tight") plt.close(fig) buf.seek(0) frames.append(Image.open(buf).copy()) import tempfile, os tmp = tempfile.NamedTemporaryFile(suffix=".gif", delete=False) tmp.close() frames[0].save( tmp.name, save_all=True, append_images=frames[1:], loop=0, duration=int(1000 / fps), optimize=False, ) return tmp.name def spec_table_html(result: PlanResult) -> str: rows = [] for i, (name, reward) in enumerate(zip(result.spec_names, result.spec_rewards)): ok = i in result.satisfied icon = "✅" if ok else "❌" color = "#1a7a1a" if ok else "#aa0000" rows.append( f"" f"{icon}" f"{name}" f"r = {reward:.0f}" f"" f"{'SATISFIED' if ok else 'VIOLATED'}" f"" ) header = ( f"
" f"Total reward: {result.total_reward:.0f} / {result.max_possible_reward:.0f}" f"
" ) table = ( "" "" "" "" "" "" "" f"{''.join(rows)}
SpecRewardResult
" ) msg_color = "#1a7a1a" if result.success else "#aa0000" msg = f"

{result.message}

" return header + table + msg