fmdtools 2.3.2__tar.gz → 2.4.0__tar.gz

{fmdtools-2.3.2 → fmdtools-2.4.0}/LICENSE

@@ -1,4 +1,4 @@
-fmdtools version 2.3.2
+fmdtools version 2.4.0
 ---------------------------
                                  Apache License
                            Version 2.0, January 2004

{fmdtools-2.3.2 → fmdtools-2.4.0}/PKG-INFO

@@ -1,10 +1,10 @@
 Metadata-Version: 2.4
 Name: fmdtools
-Version: 2.3.2
+Version: 2.4.0
 Summary: System resilience modelling, simulation, and assessment in Python
 Author: fmdtools Developers
 Maintainer-email: Daniel Hulse <daniel.e.hulse@nasa.gov>
-License: fmdtools version 2.3.2
+License: fmdtools version 2.4.0
         ---------------------------
                                          Apache License
                                    Version 2.0, January 2004
@@ -236,13 +236,13 @@ Project-URL: Documentation, https://nasa.github.io/fmdtools/
 Project-URL: source-code, https://github.com/nasa/fmdtools
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Science/Research
-Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
 Classifier: License :: OSI Approved :: Apache Software License
 Classifier: Operating System :: OS Independent
 Classifier: Topic :: Scientific/Engineering
-Requires-Python: >=3.11
+Requires-Python: >=3.12
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: scipy
@@ -250,7 +250,7 @@ Requires-Dist: tqdm
 Requires-Dist: networkx
 Requires-Dist: numpy>=2.0
 Requires-Dist: matplotlib>=3.7.0
-Requires-Dist: pandas[all]
+Requires-Dist: pandas[all]>=2.2.0
 Requires-Dist: ordered-set
 Requires-Dist: dill
 Requires-Dist: recordclass==0.24
@@ -273,15 +273,15 @@ Dynamic: license-file
 
 # Overview
 
-![Python Version](https://img.shields.io/badge/Python-3.13-blue)
+![Python Version](https://img.shields.io/badge/Python-3.14-blue)
 [![PyPI](https://img.shields.io/pypi/v/fmdtools)](https://pypi.org/project/fmdtools/)
 [![Total Downloads](https://static.pepy.tech/badge/fmdtools)](https://pepy.tech/project/fmdtools)
 [![Downloads/Month](https://static.pepy.tech/badge/fmdtools/month)](https://pepy.tech/project/fmdtools)
 [![GitHub release (latest by date)](https://img.shields.io/github/v/release/nasa/fmdtools?label=GitHub%20Release)](https://github.com/nasa/fmdtools/releases)
 [![GitHub Tag](https://img.shields.io/github/v/tag/nasa/fmdtools)](https://github.com/nasa/fmdtools/tags)
 [![CodeFactor](https://www.codefactor.io/repository/github/nasa/fmdtools/badge)](https://www.codefactor.io/repository/github/nasa/fmdtools)
-[![Tests Status](./tests/reports/full-py313/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py313/junit/report.html)
-[![Tests Coverage](./tests/reports/full-py313/coverage-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py313/coverage_html/index.html)
+[![Tests Status](./tests/reports/full-py314/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py314/junit/report.html)
+[![Tests Coverage](./tests/reports/full-py314/coverage-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py314/coverage_html/index.html)
 [![GitHub License](https://img.shields.io/badge/License-Apache%202.0-green)](https://github.com/nasa/fmdtools/blob/main/LICENSE)
 [![NASA Software Classification](https://img.shields.io/badge/Software_Class-E-blue)](https://nodis3.gsfc.nasa.gov/displayDir.cfm?Internal_ID=N_PR_7150_002D_&page_name=AppendixD)
 
@@ -293,12 +293,12 @@ Dynamic: license-file
 
 See: [Examples](https://nasa.github.io/fmdtools/examples/Examples.html)
 
-<img src="/docs/_images/tutorial_fmdtools_basics.webp" width="15%"></img>
-<img src="/docs/_images/demo_proxthreat.webp" width="15%"></img>
-<img src="/docs/_images/demo_wildfire.webp" width="15%"></img>
-<img src="/docs/_images/paper_jcise_dsa.webp" width="15%"></img>
-<img src="/docs/_images/demo_urban_flight.webp" width="15%"></img> 
-<img src="/docs/_images/demo_degradation.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/tutorial_fmdtools_basics.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/demo_proxthreat.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/demo_wildfire.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/paper_jcise_dsa.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/demo_urban_flight.webp" width="15%"></img> 
+<img src="https://nasa.github.io/fmdtools/_images/demo_degradation.webp" width="15%"></img>
 
 ## About
 
@@ -326,15 +326,16 @@ The fmdtools documentation repository is also home to the Functional Reasoning D
 
 ### Python version compatibility
 
-The fmdtools library is developed in Python 3.13 but is tested to maintain compatibility over three versions of Python. See current doctest reports below:
+The fmdtools library is developed in Python 3.14 but is tested to maintain compatibility over three versions of Python. See current doctest reports below:
 
 | Python Version    | Doctests |
 | -------- | ------- |
-| 3.11  | [![Python 3.11 Tests](./tests/reports/doctests-py311/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py311/junit/report.html)   |
-| 3.12 | [![Python 3.12 Tests](./tests/reports/doctests-py312/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py312/junit/report.html)    |
-| 3.13    | [![Python 3.13 Tests](./tests/reports/doctests-py313/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py313/junit/report.html)   |
+| 3.12 | [![Python 3.12 Tests](./tests/reports/doctests-py312/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py312/junit/report.html)   |
+| 3.13 | [![Python 3.13 Tests](./tests/reports/doctests-py313/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py313/junit/report.html)    |
+| 3.14 | [![Python 3.14 Tests](./tests/reports/doctests-py314/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py314/junit/report.html)   |
 
-Further (functional and integration) tests are performed in the Python 3.13 to ensure that examples run as desired. Thus, it is generally recommended to use Python 3.13 with this version to keep pace with development, especially when running examples.
+Further (functional and integration) tests are performed in the Python 3.14 to ensure that examples run as desired. Thus, it is generally recommended to use Python 3.14
+ with this version to keep pace with development, especially when running examples.
 
 ### Set up python tooling environment
 
@@ -342,11 +343,13 @@ The fmdtools library was developed to run in a python development environments.
 
 If you do not have an existing python environment, first [download and install anaconda](https://docs.anaconda.com/free/anaconda/install/index.html) or [uv](https://docs.astral.sh/uv/).
 
-After the base installation, set up a new `Python 3.13` environment for fmdtools and install these external external packages in it:
+From there, it can be helpful to install an IDE like [VSCode](https://code.visualstudio.com/) or [Spyder](https://www.spyder-ide.org/).
+
+After the base installation, set up a new `Python 3.14` environment for fmdtools and install these external external packages in it, making sure to configure them correctly with your IDE of choice:
 
 ```
 spyder-kernels
-# used for: working with external IDEs
+# used for: working with external IDEs - make sure to use the version Spyder asks for 
 # license: ()
 # install from: (comes with anaconda) or `uv pip install spyder-kernels`
 jupyter notebook
@@ -359,7 +362,6 @@ graphviz
 # install from: https://anaconda.org/anaconda/graphviz or https://graphviz.org/download/
 ```
 
-From there, it can be helpful to install an IDE like [VSCode](https://code.visualstudio.com/) or [Spyder](https://www.spyder-ide.org/).
 
 Note: On Windows, some versions `fmdtools` dependencies may require a compiler such as that provided with [Microsoft Studio Build tools](https://visualstudio.microsoft.com/downloads/?q=build+tools) to build, so it (while not required) may be helpful to install it also.
 
@@ -392,13 +394,13 @@ More guidance on development installations is provided in [How to Contribute](ht
 Note that this version reflects the latest version on the ``main`` git branch along with any local changes. To use a particular version of ``fmdtools`` in the context of a development install you can checkout the tag corresponding to the version you want, e.g.:
 
 ```
-   git checkout v2.3.2
+   git checkout v2.4.0
 ```
 
 
 #### Dependencies
 
-fmdtools requires `Python 3.13` and depends directly on the packages below (see requirements.txt). Note that the use of these dependencies is governed by their respective licenses, which may be obtained at the provided links.
+fmdtools requires `Python 3.14` and depends directly on the packages below (see pyproject.toml). Note that the use of these dependencies is governed by their respective licenses, which may be obtained at the provided links.
 
 ```
 scipy
@@ -529,8 +531,8 @@ To cite a particular version of the fmdtools, you may use:
   author = {{NASA}},
   title = {fmdtools},
   url = {https://github.com/nasa/fmdtools},
-  version = {2.3.2},
-  date = {2025-3-6},
+  version = {2.4.0},
+  date = {2026-5-29},
 }
 ```
 

{fmdtools-2.3.2 → fmdtools-2.4.0}/README.md

@@ -2,15 +2,15 @@
 
 # Overview
 
-![Python Version](https://img.shields.io/badge/Python-3.13-blue)
+![Python Version](https://img.shields.io/badge/Python-3.14-blue)
 [![PyPI](https://img.shields.io/pypi/v/fmdtools)](https://pypi.org/project/fmdtools/)
 [![Total Downloads](https://static.pepy.tech/badge/fmdtools)](https://pepy.tech/project/fmdtools)
 [![Downloads/Month](https://static.pepy.tech/badge/fmdtools/month)](https://pepy.tech/project/fmdtools)
 [![GitHub release (latest by date)](https://img.shields.io/github/v/release/nasa/fmdtools?label=GitHub%20Release)](https://github.com/nasa/fmdtools/releases)
 [![GitHub Tag](https://img.shields.io/github/v/tag/nasa/fmdtools)](https://github.com/nasa/fmdtools/tags)
 [![CodeFactor](https://www.codefactor.io/repository/github/nasa/fmdtools/badge)](https://www.codefactor.io/repository/github/nasa/fmdtools)
-[![Tests Status](./tests/reports/full-py313/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py313/junit/report.html)
-[![Tests Coverage](./tests/reports/full-py313/coverage-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py313/coverage_html/index.html)
+[![Tests Status](./tests/reports/full-py314/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py314/junit/report.html)
+[![Tests Coverage](./tests/reports/full-py314/coverage-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/full-py314/coverage_html/index.html)
 [![GitHub License](https://img.shields.io/badge/License-Apache%202.0-green)](https://github.com/nasa/fmdtools/blob/main/LICENSE)
 [![NASA Software Classification](https://img.shields.io/badge/Software_Class-E-blue)](https://nodis3.gsfc.nasa.gov/displayDir.cfm?Internal_ID=N_PR_7150_002D_&page_name=AppendixD)
 
@@ -22,12 +22,12 @@
 
 See: [Examples](https://nasa.github.io/fmdtools/examples/Examples.html)
 
-<img src="/docs/_images/tutorial_fmdtools_basics.webp" width="15%"></img>
-<img src="/docs/_images/demo_proxthreat.webp" width="15%"></img>
-<img src="/docs/_images/demo_wildfire.webp" width="15%"></img>
-<img src="/docs/_images/paper_jcise_dsa.webp" width="15%"></img>
-<img src="/docs/_images/demo_urban_flight.webp" width="15%"></img> 
-<img src="/docs/_images/demo_degradation.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/tutorial_fmdtools_basics.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/demo_proxthreat.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/demo_wildfire.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/paper_jcise_dsa.webp" width="15%"></img>
+<img src="https://nasa.github.io/fmdtools/_images/demo_urban_flight.webp" width="15%"></img> 
+<img src="https://nasa.github.io/fmdtools/_images/demo_degradation.webp" width="15%"></img>
 
 ## About
 
@@ -55,15 +55,16 @@ The fmdtools documentation repository is also home to the Functional Reasoning D
 
 ### Python version compatibility
 
-The fmdtools library is developed in Python 3.13 but is tested to maintain compatibility over three versions of Python. See current doctest reports below:
+The fmdtools library is developed in Python 3.14 but is tested to maintain compatibility over three versions of Python. See current doctest reports below:
 
 | Python Version    | Doctests |
 | -------- | ------- |
-| 3.11  | [![Python 3.11 Tests](./tests/reports/doctests-py311/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py311/junit/report.html)   |
-| 3.12 | [![Python 3.12 Tests](./tests/reports/doctests-py312/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py312/junit/report.html)    |
-| 3.13    | [![Python 3.13 Tests](./tests/reports/doctests-py313/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py313/junit/report.html)   |
+| 3.12 | [![Python 3.12 Tests](./tests/reports/doctests-py312/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py312/junit/report.html)   |
+| 3.13 | [![Python 3.13 Tests](./tests/reports/doctests-py313/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py313/junit/report.html)    |
+| 3.14 | [![Python 3.14 Tests](./tests/reports/doctests-py314/tests-badge.svg)](https://htmlpreview.github.io/?https://github.com/nasa/fmdtools/blob/main/tests/reports/doctests-py314/junit/report.html)   |
 
-Further (functional and integration) tests are performed in the Python 3.13 to ensure that examples run as desired. Thus, it is generally recommended to use Python 3.13 with this version to keep pace with development, especially when running examples.
+Further (functional and integration) tests are performed in the Python 3.14 to ensure that examples run as desired. Thus, it is generally recommended to use Python 3.14
+ with this version to keep pace with development, especially when running examples.
 
 ### Set up python tooling environment
 
@@ -71,11 +72,13 @@ The fmdtools library was developed to run in a python development environments.
 
 If you do not have an existing python environment, first [download and install anaconda](https://docs.anaconda.com/free/anaconda/install/index.html) or [uv](https://docs.astral.sh/uv/).
 
-After the base installation, set up a new `Python 3.13` environment for fmdtools and install these external external packages in it:
+From there, it can be helpful to install an IDE like [VSCode](https://code.visualstudio.com/) or [Spyder](https://www.spyder-ide.org/).
+
+After the base installation, set up a new `Python 3.14` environment for fmdtools and install these external external packages in it, making sure to configure them correctly with your IDE of choice:
 
 ```
 spyder-kernels
-# used for: working with external IDEs
+# used for: working with external IDEs - make sure to use the version Spyder asks for 
 # license: ()
 # install from: (comes with anaconda) or `uv pip install spyder-kernels`
 jupyter notebook
@@ -88,7 +91,6 @@ graphviz
 # install from: https://anaconda.org/anaconda/graphviz or https://graphviz.org/download/
 ```
 
-From there, it can be helpful to install an IDE like [VSCode](https://code.visualstudio.com/) or [Spyder](https://www.spyder-ide.org/).
 
 Note: On Windows, some versions `fmdtools` dependencies may require a compiler such as that provided with [Microsoft Studio Build tools](https://visualstudio.microsoft.com/downloads/?q=build+tools) to build, so it (while not required) may be helpful to install it also.
 
@@ -121,13 +123,13 @@ More guidance on development installations is provided in [How to Contribute](ht
 Note that this version reflects the latest version on the ``main`` git branch along with any local changes. To use a particular version of ``fmdtools`` in the context of a development install you can checkout the tag corresponding to the version you want, e.g.:
 
 ```
-   git checkout v2.3.2
+   git checkout v2.4.0
 ```
 
 
 #### Dependencies
 
-fmdtools requires `Python 3.13` and depends directly on the packages below (see requirements.txt). Note that the use of these dependencies is governed by their respective licenses, which may be obtained at the provided links.
+fmdtools requires `Python 3.14` and depends directly on the packages below (see pyproject.toml). Note that the use of these dependencies is governed by their respective licenses, which may be obtained at the provided links.
 
 ```
 scipy
@@ -258,8 +260,8 @@ To cite a particular version of the fmdtools, you may use:
   author = {{NASA}},
   title = {fmdtools},
   url = {https://github.com/nasa/fmdtools},
-  version = {2.3.2},
-  date = {2025-3-6},
+  version = {2.4.0},
+  date = {2026-5-29},
 }
 ```
 

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/airport_taxiway/model_asset.py

@@ -72,7 +72,10 @@ class Asset(Function):
             self.perc_requests.s.put(asset_req="land")
         atc_requests.s.assign(self.perc_requests.s, as_copy=True)
 
-        self.perc_requests.update("asset_req", to_update="atc", to_get="local",)
+        try:
+            self.perc_requests.update("asset_req", to_update="atc", to_get="local",)
+        except:
+            pass
 
         self.perc_location = self.location.create_local("percieved", s=self.location.s)
 

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/airport_taxiway/model_main.py

@@ -131,6 +131,8 @@ if __name__ == "__main__":
     from fmdtools.define.flow.commsflow import CommsFlowGraph
 
     mdl = taxiway_model()
+    # mdl.flows['requests'].copy()
+    mdl.copy()
 
 
     endresults, mdlhist = prop.one_fault(mdl, "ma3", "lost_sight",

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/airspacelib/base/arch/aviate.py

@@ -67,7 +67,7 @@ class Aviate(Function):
         if self.trajectories.s.z > 0.0:
             if self.electricity.s.voltage_high <= 0.0:
                 self.m.set_mode('falling')
-            else:
+            elif not self.m.in_mode('falling'):
                 self.m.set_mode('flight')
         else:
             if self.electricity.s.voltage_high > 0.0:

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/airspacelib/contingency_management/model_aircraft.py

@@ -94,7 +94,7 @@ class ContingencyControlParameter(Parameter):
     fuel_rate: float = 20.0
     disallowed_cost: float = 10.0
     occupied_cost: float = 20.0
-    restricted_cost: float = 1000000.0
+    restricted_cost: float = 100.0
     max_distance: int = 5
     blocksize: float = 2.5
     
@@ -134,6 +134,8 @@ class ContingencyControlFlight(ControlFlight):
             else:
                 if self.m.in_mode('pause'):
                     self.m.set_mode('flight')
+                    self.replan_mission()
+                    self.s.pt = 1
                 self.s.reconfigured_proxthreat = False
                 
     def static_behavior(self):
@@ -173,10 +175,6 @@ class ContingencyControlFlight(ControlFlight):
         # if UAV within distance 10, require A* consideration for UAV safety
         obstacle = self.s.closest_dist <= 10
         # if battery low, bump fuel cost proportionally to current battery level
-        if 0.0 < self.electricity.s.charge <= 25.0:
-            fuel_rate = self.p.fuel_rate * 25000.0 / self.electricity.s.charge
-        else:
-            fuel_rate = self.p.fuel_rate
         curr_pt = self.trajectories.perc_traj.s.gett('x', 'y')
         new_path = grid.a_star_worldcoords(
             start_xy = curr_pt, 
@@ -185,7 +183,7 @@ class ContingencyControlFlight(ControlFlight):
             disallowed_cost = self.p.disallowed_cost,
             occupied_cost = self.p.occupied_cost,
             restricted_cost = self.p.restricted_cost,
-            fuel_rate = fuel_rate, 
+            fuel_rate = self.p.fuel_rate, 
             obstacle = obstacle
             )
 
@@ -197,9 +195,19 @@ class ContingencyControlFlight(ControlFlight):
 class ContingencyAviate(Aviate):
     """Movement of the drone. Updates encironment point."""
 
+    def static_behavior(self):
+        dists = self.environment.ga.calc_dist_to_threats("envelope", "envelope")
+        for name, dist in dists.items():
+            if dist <= 0.1:
+                self.m.add_fault('crash')
+                self.m.set_mode('falling')
+                self.environment.ga.geoms['self'].s.buffer_speed = 0.0
+                self.environment.ga.geoms[name].s.buffer_speed = 0.0
+        super().static_behavior()
+
     def dynamic_behavior(self):
         super().dynamic_behavior()
-        self.environment.ga.points['self'].s.assign(self.trajectories.s, 'x', 'y', 'z')
+        self.environment.ga.geoms['self'].s.assign(self.trajectories.s, 'x', 'y', 'z')
 
 
 
@@ -471,7 +479,7 @@ def plot_flightpath(mdl={}, history={}, fig={}, ax={}, with_plans=True, with_loc
         else:
             bhist = history
         geoms = dict()
-        for pt in mdl.flows['environment'].ga.points:
+        for pt in mdl.flows['environment'].ga.geoms:
             if pt == 'self':
                 geoms[pt] = {'shapes': {'envelope': {'color': 'blue'}}}
             else:
@@ -617,9 +625,9 @@ if __name__ == "__main__":
     #                                  'trajectories.s.z',
     #                                  time_groups='nominal', time_ticks=2.0, fig=fig, ax=ax)
 
-    # fig, ax = hist.plot_trajectories('environment.ga.points.uav.s.x',
-    #                                  'environment.ga.points.uav.s.y',
-    #                                  'environment.ga.points.uav.s.z',
+    # fig, ax = hist.plot_trajectories('environment.ga.geoms.uav.s.x',
+    #                                  'environment.ga.geoms.uav.s.y',
+    #                                  'environment.ga.geoms.uav.s.z',
     #                                  time_groups='nominal', time_ticks=2.0, fig=fig, ax=ax)
 
 

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/airspacelib/contingency_management/model_environment.py

@@ -21,7 +21,7 @@ from fmdtools_examples.airspacelib.base.state import AircraftPosition3
 
 from fmdtools.define.object.coords import Coords, CoordsParam
 from fmdtools.define.architecture.geom import GeomArchitecture
-from fmdtools.define.object.geom import GeomPoint, PointParam
+from fmdtools.define.object.geom import GeomPoint, GeomParameter
 from fmdtools.define.block.function import Function
 
 from shapely import distance
@@ -141,7 +141,7 @@ class ThreatState(AircraftPosition3):
         self.buffer_speed = self.get_vel()
 
 
-class ThreatParam(PointParam):
+class ThreatParam(GeomParameter):
     """
     Parameter defining the exteral threat shape.
 
@@ -167,6 +167,9 @@ class Threat(GeomPoint):
         """Update position given known speed."""
         self.s.update_position(self.s.buffer_speed)
 
+    def get_shapely_args(self):
+        return (self.s.x, self.s.y)
+
 
 class ContingencyThreats(GeomArchitecture):
     """Overall environment-defining geometries of the drone and external threats."""
@@ -175,40 +178,40 @@ class ContingencyThreats(GeomArchitecture):
 
     def init_architecture(self, **kwargs):
         """Initialize drone and intruders given 'intruders' options."""
-        self.add_point('self', Threat)
+        self.add_geom('self', Threat)
         if self.p.intruders == "across":
-            s = {'buffer_speed': 3.5, 'x': 100, 'y': 0.0, 'z': 25.0,
+            s = {'buffer_speed': 3.3, 'x': 100, 'y': 0.0, 'z': 25.0,
                  'goal_x': 0.0, 'goal_y': 100.0, 'goal_z': 25.0}
-            self.add_point("uav", Threat, s=s)
+            self.add_geom("uav", Threat, s=s)
         elif self.p.intruders == "middle":
             s = {'buffer_speed': 0.0, 'x': 60, 'y': 60, 'z': 25.0,
                  'goal_x': 60.0, 'goal_y': 60.0, 'goal_z': 25.0}
-            self.add_point("uav", Threat, s=s)
+            self.add_geom("uav", Threat, s=s)
         elif self.p.intruders == "down":
             s = {'buffer_speed': 2.5,
                  'x': 60, 'y': 120, 'z': 25.0,
                  'goal_x': 60.0, 'goal_y': 0.0, 'goal_z': 25.0}
-            self.add_point("uav", Threat, s=s)
+            self.add_geom("uav", Threat, s=s)
         elif self.p.intruders == "down-over":
             s = {'buffer_speed': 2.5,
                  'x': 40, 'y': 120, 'z': 25.0,
                  'goal_x': 40.0, 'goal_y': 0.0, 'goal_z': 25.0}
-            self.add_point("uav", Threat, s=s)
+            self.add_geom("uav", Threat, s=s)
         elif self.p.intruders:
             raise Exception("Invalid option for intruders: "+self.p.intruders)
             
 
     def update_positions(self):
         """Update positions of the threats."""
-        for threatname, threat in self.points.items():
+        for threatname, threat in self.geoms.items():
             if threatname != 'self':
                 threat.update_position()
 
     def calc_dist_to_threats(self, self_shape='envelope', threat_shape='safety'):
         """Calculate distancses b/t self_shape for self and threat_shape for threats."""
         dists = {}
-        self_envelope = self.points['self'].get_shape(self_shape)
-        for threatname, threat in self.points.items():
+        self_envelope = self.geoms['self'].get_shape(self_shape)
+        for threatname, threat in self.geoms.items():
             if threatname != 'self':
                 threat_envelope = threat.get_shape(threat_shape)
                 dists[threatname] = distance(self_envelope, threat_envelope)
@@ -266,9 +269,9 @@ if __name__ == "__main__":
     he.ga.update_positions()
     he.show()
 
-    hc = ContingencyConditions(track=['environment'])
+    cc = ContingencyConditions(track=['environment'])
     from fmdtools.sim import propagate
-    res, hist = propagate.nominal(hc)
+    res, hist = propagate.nominal(cc)
 
-    hist.plot_trajectories('environment.ga.points.uav.s.x',
-                           'environment.ga.points.uav.s.y')
+    hist.plot_trajectories('environment.ga.geoms.uav.s.x',
+                           'environment.ga.geoms.uav.s.y')

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/airspacelib/contingency_management/model_flightplanner.py

@@ -73,7 +73,7 @@ class DroneFlightGrid(Coords):
     >>> from fmdtools_examples.airspacelib.contingency_management.model_environment import ContingencyEnvironment
     >>> env = ContingencyEnvironment()
     >>> param = DroneFlightGridParam(x_size=120, y_size=120, blocksize=1.0)
-    >>> grid = DroneFlightGrid(env, p=param)
+    >>> grid = DroneFlightGrid(env=env, p=param)
     >>> start = (10.0, 10.0)
     >>> goal = (100.0, 100.0)
     >>> path = grid.a_star_worldcoords(start_xy=start, goal_xy=goal,
@@ -98,10 +98,14 @@ class DroneFlightGrid(Coords):
     state_grid_costs: tuple = (float, 0.0)
     state_fuel_costs: tuple = (dict, None)
     state_edge_weights: tuple = (dict, None)
+    attrs = Coords.attrs + ('env',)
 
     def init_properties(self, env={}, **kwargs):
-        self.env_coords = env.c
-        self.env = env
+        if env:
+            self.env_coords = env.c
+            self.env = env
+        else:
+            raise Exception("No env provided")
         for i in range(self.p.y_size):
             for j in range(self.p.x_size):
                 self.fuel_costs[i, j] = {}
@@ -171,10 +175,10 @@ class DroneFlightGrid(Coords):
         unsafe_points = set()
         if obstacle:
             try:
-                uav_geom = self.env.ga.geoms()['uav']
+                uav_geom = self.env.ga.geoms['uav']
             except (AttributeError, KeyError):
                 print("No such UAV geometry architecture exists")
-            uav_geom = self.env.ga.geoms()['uav']
+            uav_geom = self.env.ga.geoms['uav']
             coarse_block = self.env.c.p.blocksize
             fine_block = self.p.blocksize
             coarse_unsafe_pts = [pt for pt in self.env_coords.pts if uav_geom.at(pt, 'safety')]
@@ -217,7 +221,7 @@ class DroneFlightGrid(Coords):
                                 restricted_cost * restricted
                             )
                 if (i, j) in unsafe_points:
-                    total += restricted_cost
+                    total +=100*restricted_cost
                 self.set(i, j, 'grid_costs', total)
 
     def neighbor_gen(self, j, i, max_distance):
@@ -446,5 +450,19 @@ class DroneFlightGrid(Coords):
         return path_xy
     
 if __name__ == "__main__":
+    from fmdtools_examples.airspacelib.contingency_management.model_flightplanner import DroneFlightGrid, DroneFlightGridParam
+    from fmdtools_examples.airspacelib.contingency_management.model_environment import ContingencyEnvironment
+    import numpy as np
+    env = ContingencyEnvironment()
+    param = DroneFlightGridParam(x_size=120/2.5, y_size=120/2.5, blocksize=2.5, max_cost=np.inf)
+    grid = DroneFlightGrid(env=env, p=param)
+    grid.copy()
+    start = (45.0, 72.5)
+    goal = (50.0, 60.0)
+    path = grid.a_star_worldcoords(start_xy=start, goal_xy=goal, max_distance=5,
+                                   disallowed_cost=10.0, occupied_cost=20.0,
+                                   restricted_cost=100.0, fuel_rate= 20, obstacle=True) # *25000.0/25
+    print(path)
+
     import doctest
     doctest.testmod(verbose=True)

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/cooling_tank/model_main.py

@@ -212,11 +212,11 @@ class HumanASG(ActionArchitecture):
 
         self.add_act('look', Look)
         self.add_act('detect', Detect, 'detect_sig', 'tank_sig',
-                     duration=self.p.reacttime)
+                     t={'duration': self.p.reacttime})
         self.add_act('reach', Reach)
         self.add_act('grasp', Grasp)
         self.add_act('turn', Turn, 'detect_sig',
-                     'valve1_sig', 'valve2_sig', duration=1.0)
+                     'valve1_sig', 'valve2_sig', t={'duration': 1.0})
 
         self.add_cond('look', 'detect', 'looked', condition=self.acts['look'].looked)
         self.add_cond('detect', 'reach', 'detected',

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/cooling_tank/test_tank.py

@@ -262,6 +262,7 @@ if __name__ == '__main__':
     # runner.run(suite)
 
     # suite = unittest.TestSuite()
+    # suite.addTest(TankTests("test_model_copy_same"))
     # suite.addTest(TankTests("test_approach_parallelism_notrack"))
     # suite.addTest(TankTests("test_approach_parallelism_0"))
     # suite.addTest(TankTests("test_approach_parallelism_1"))

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/multirotor_drone/model_hierarchical.py

@@ -337,6 +337,12 @@ class Drone(DynDrone):
 
 
 if __name__ == "__main__":
+    ad = AffectDOFArch()
+    ad.copy()
+
+    hierarchical_model = Drone(p=DroneParam(arch='quad'))
+    hierarchical_model.asdict(withflex=False, as_copy=True)
+    hierarchical_model.copy()
     lap = LineArchParam()
     lap = LineArchParam(archtype='quad')
 

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/multirotor_drone/model_rural.py

@@ -358,11 +358,11 @@ class BatArch(ComponentArchitecture):
         elif self.p.archtype == 'series-split':
             ee_provided = np.max(list(ees.values()))
         elif self.p.archtype == 'parallel-split':
-            ee_provided = np.sum(list(ees.values()))
+            ee_provided = np.mean(list(ees.values()))
         elif self.p.archtype == 'split-both':
             e = list(ees.values())
             e.sort()
-            ee_provided = e[-1]+e[-2]
+            ee_provided = (e[-1]+e[-2])/2
         self.flows['ee_1'].s.effort = ee_provided
 
 

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/multirotor_drone/model_urban.py

@@ -535,7 +535,7 @@ if __name__ == "__main__":
                                                mdl_kwargs = {'sp':{'dt':1.0}})
     plot_env_with_traj_z(hists, mdl)
     plot_env_with_traj(hists, mdl)
-    statsfmea = an.tabulate.FMEA(endresults, app, group_by=('function', 'fault'),
+    statsfmea = an.tabulate.FMEA(endresults, app, group_by=('obj', 'fault'),
                                  average_metric=['rate', 'unsafe_flight_time', 'cost',
                                                   'repcost', 'landcost', 'body_strikes',
                                               'head_strikes', 'property_restrictions'],
@@ -544,7 +544,7 @@ if __name__ == "__main__":
     statsfmea.as_table()
     import matplotlib.colors as mcolors
     statsfmea.as_plots("average_repcost", "average_unsafe_flight_time", "average_cost", "average_rate",
-                       color_factor="function", suppress_ticklabels=True,
+                       color_factor="obj", suppress_ticklabels=True,
                        legend_loc=2, pallette=[*mcolors.XKCD_COLORS])
 
 

{fmdtools-2.3.2 → fmdtools-2.4.0}/examples/multirotor_drone/script_opt_model_rural.py

@@ -200,4 +200,7 @@ def x_to_rcost(xdes, xoper, xres, loc='rural', fullcosts=False, faultmodes='all'
 
 
 if __name__ == "__main__":
+    import multiprocessing as mp
+    # x_to_rcost([1, 1], [40], [2, 2])
+    x_to_rcost([2, 2], [40], [2, 2], pool=mp.Pool(5))
     pass