diff --git a/nyxNOVA-master/README.md b/nyxNOVA-master/README.md new file mode 100644 index 00000000..e1f09692 --- /dev/null +++ b/nyxNOVA-master/README.md @@ -0,0 +1,53 @@ +![nyxNOVA Logo](nyxNOVA-fe/nyxNova-site/public/images/display.png) + +### *"nyxNOVA merges cutting-edge exoplanet cartography with intelligent navigation, paving the way for next-generation cosmic exploration. Our solution harnesses the power of AI to decode the cosmo's enigmatic terrain and chart safe passages for future missions."* + +### Features: + + - Celestial Sentinel: Our AI-powered cosmic detective scans the exoplanet surface, unveiling hidden craters and boulders with unprecedented precision. + - Cosmic Pathfinder: Crafting safe routes through the cosmo's treacherous regions, our navigation system ensures rovers can traverse the any landscape with confidence. + - Cosmic Laboratory: Strategic pit stops for scientific exploration are seamlessly integrated into our navigation plans, maximizing the scientific yield of each mission. + +## Installation + +### Prerequisites + +- Python 3.8+ +- Node.js 14.x or later +- npm + +### Backend Setup + +1. Clone the repository: + `git clone https://github.com/stardust-crusaders-x/nyxNOVA.git + cd nyxNOVA-be` + +3. Set up a virtual environment: + `python -m venv venv +source venv/bin/activate # On Windows use venv\Scripts\activate` +4. Install required packages: + `pip install -r requirements.txt` + or + `pip install pqdict segmentation_models_pytorch` + `pip install pytorch-lightning` + `pip install torch` +### Frontend Setup + +1. Navigate to the frontend directory: + `cd nyxNOVA-fe` + `exoplanet charting: cd Exoplanet\Atmos_tut\r3f-wawatmos-starter` +3. Install dependencies: + `npm install` `yarn install` +4. Run the development server: + web ~ ``cd nyxNova-site + npm run dev`` + sim ~ ``cd MoonLander-Simulator`` + ed ~ ``cd Exoplanet\Atmos_tut\r3f-wawatmos-starter + yarn dev`` + + +Project Link: [https://github.com/stardust-crusaders-x/nyxNOVA](https://github.com/stardust-crusaders-x/nyxNOVA) + +*"One small step for a cosmo, one giant leap for space exploration."* +— The nyxNOVA Vanguard + diff --git a/nyxNOVA-master/nyxNOVA-be/best.pt b/nyxNOVA-master/nyxNOVA-be/best.pt new file mode 100644 index 00000000..289f7150 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/best.pt differ diff --git a/nyxNOVA-master/nyxNOVA-be/checkpoints/epoch=33-step=272.ckpt b/nyxNOVA-master/nyxNOVA-be/checkpoints/epoch=33-step=272.ckpt new file mode 100644 index 00000000..e0f757d0 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/checkpoints/epoch=33-step=272.ckpt differ diff --git a/nyxNOVA-master/nyxNOVA-be/infer.py b/nyxNOVA-master/nyxNOVA-be/infer.py new file mode 100644 index 00000000..2f815cbb --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/infer.py @@ -0,0 +1,62 @@ +import matplotlib.pyplot as plt +import torch +from ultralytics import YOLO +import glob +import random +import torchvision.transforms.functional as F +import numpy as np +from neural_astar.planner import NeuralAstar +from neural_astar.utils.training import load_from_ptl_checkpoint + +device = "cpu" +model = YOLO('yolov10l.yaml') +model = YOLO("best.pt") + +paths = glob.glob('trail\\WhatsApp\\*.jpeg') +ind = random.randint(0, len(paths) - 1) +img_path = paths[ind] + +img = plt.imread(img_path) +results = model.predict(img, save=True, imgsz=640, conf=0.5, iou=0.5, save_txt=True, save_conf=True, save_dir='D:\\isro_hack\\predictions') +binary_map = [[1 for _ in range(img.shape[1])] for _ in range(img.shape[0])] + +for result in results: + boxes = result.boxes.xyxy + for box in boxes: + x1, y1, x2, y2 = map(int, box) + for i in range(y1, y2): + for j in range(x1, x2): + binary_map[i][j] = 0 + +dilated_map = F.resize(torch.tensor(binary_map).unsqueeze(0).float(), size=(32, 32)).squeeze(0).numpy().astype(np.uint8) + +def is_valid_point(point, dilated_map): + return dilated_map[point[0], point[1]] == 1 + +while True: + start_point = (random.randint(0, 31), random.randint(0, 31)) + if is_valid_point(start_point, dilated_map): + break + +while True: + goal_point = (random.randint(0, 31), random.randint(0, 31)) + if is_valid_point(goal_point, dilated_map) and goal_point != start_point: + break + +start_map = torch.zeros((1, 32, 32), dtype=torch.float32) +start_map[0, start_point[0], start_point[1]] = 1.0 + +goal_map = torch.zeros((1, 32, 32), dtype=torch.float32) +goal_map[0, goal_point[0], goal_point[1]] = 1.0 + +dilated_map = torch.tensor(dilated_map).unsqueeze(0).float().to(device) + +neural_astar = NeuralAstar(encoder_arch='CNN').to(device) +neural_astar.load_state_dict(load_from_ptl_checkpoint("D:\\isro_hack\\model\\mazes_032_moore_c8\\lightning_logs\\version_0\\checkpoints\\")) + +neural_astar.eval() +na_outputs = neural_astar(dilated_map, start_map.to(device), goal_map.to(device), store_intermediate_results=True) + +print(torch.unique(na_outputs[-1][-1]['paths'])) +plt.imshow(na_outputs[-1][-1]['paths'][0].permute(1, 2, 0).cpu().detach().numpy(), cmap='gray') +plt.show() diff --git a/nyxNOVA-master/nyxNOVA-be/mars.jpg b/nyxNOVA-master/nyxNOVA-be/mars.jpg new file mode 100644 index 00000000..8c88ed7e Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/mars.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-be/model/mazes_032_moore_c8/lightning_logs/version_0/checkpoints/epoch=33-step=272.ckpt b/nyxNOVA-master/nyxNOVA-be/model/mazes_032_moore_c8/lightning_logs/version_0/checkpoints/epoch=33-step=272.ckpt new file mode 100644 index 00000000..e0f757d0 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/model/mazes_032_moore_c8/lightning_logs/version_0/checkpoints/epoch=33-step=272.ckpt differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/__init__.py 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a/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/__pycache__/pq_astar.cpython-310.pyc b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/__pycache__/pq_astar.cpython-310.pyc new file mode 100644 index 00000000..1a18e14f Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/__pycache__/pq_astar.cpython-310.pyc differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/__pycache__/pq_astar.cpython-311.pyc b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/__pycache__/pq_astar.cpython-311.pyc new file mode 100644 index 00000000..811b4ee8 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/__pycache__/pq_astar.cpython-311.pyc differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/astar.py b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/astar.py new file mode 100644 index 00000000..97c066a8 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/astar.py @@ -0,0 +1,213 @@ +"""Neural A* search +Author: Ryo Yonetani +Affiliation: OSX +""" +from __future__ import annotations + +from functools import partial + +import torch +import torch.nn as nn + +from . import encoder +from .differentiable_astar import AstarOutput, DifferentiableAstar +from .pq_astar import pq_astar + + +class VanillaAstar(nn.Module): + def __init__( + self, + g_ratio: float = 0.5, + use_differentiable_astar: bool = True, + ): + """ + Vanilla A* search + + Args: + g_ratio (float, optional): ratio between g(v) + h(v). Set 0 to perform as best-first search. Defaults to 0.5. + use_differentiable_astar (bool, optional): if the differentiable A* is used instead of standard A*. Defaults to True. + + Examples: + >>> planner = VanillaAstar() + >>> outputs = planner(map_designs, start_maps, goal_maps) + >>> histories = outputs.histories + >>> paths = outputs.paths + + Note: + For perform inference on a large map, set use_differentiable_astar = False to peform a faster A* with priority queue + """ + + super().__init__() + self.astar = DifferentiableAstar( + g_ratio=g_ratio, + Tmax=1.0, + ) + self.g_ratio = g_ratio + self.use_differentiable_astar = use_differentiable_astar + + def perform_astar( + self, + map_designs: torch.tensor, + start_maps: torch.tensor, + goal_maps: torch.tensor, + obstacles_maps: torch.tensor, + store_intermediate_results: bool = False, + ) -> AstarOutput: + + astar = ( + self.astar + if self.use_differentiable_astar + else partial(pq_astar, g_ratio=self.g_ratio) + ) + + astar_outputs = astar( + map_designs, + start_maps, + goal_maps, + obstacles_maps, + store_intermediate_results, + ) + + return astar_outputs + + def forward( + self, + map_designs: torch.tensor, + start_maps: torch.tensor, + goal_maps: torch.tensor, + store_intermediate_results: bool = False, + ) -> AstarOutput: + """ + Perform A* search + + Args: + map_designs (torch.tensor): map designs (obstacle maps or raw image) + start_maps (torch.tensor): start maps indicating the start location with one-hot binary map + goal_maps (torch.tensor): goal maps indicating the goal location with one-hot binary map + store_intermediate_results (bool, optional): If the intermediate search results are stored in Astar output. Defaults to False. + + Returns: + AstarOutput: search histories and solution paths, and optionally intermediate search results. + """ + + cost_maps = map_designs + obstacles_maps = map_designs + + return self.perform_astar( + cost_maps, + start_maps, + goal_maps, + obstacles_maps, + store_intermediate_results, + ) + + +class NeuralAstar(VanillaAstar): + def __init__( + self, + g_ratio: float = 0.5, + Tmax: float = 1.0, + encoder_input: str = "m+", + encoder_arch: str = "CNN", + encoder_depth: int = 4, + learn_obstacles: bool = False, + const: float = None, + use_differentiable_astar: bool = True, + ): + """ + Neural A* search + + Args: + g_ratio (float, optional): ratio between g(v) + h(v). Set 0 to perform as best-first search. Defaults to 0.5. + Tmax (float, optional): how much of the map the model explores during training. Set a small value (0.25) when training the model. Defaults to 1.0. + encoder_input (str, optional): input format. Set "m+" to use the concatenation of map_design and (start_map + goal_map). Set "m" to use map_design only. Defaults to "m+". + encoder_arch (str, optional): encoder architecture. Defaults to "CNN". + encoder_depth (int, optional): depth of the encoder. Defaults to 4. + learn_obstacles (bool, optional): if the obstacle is invisible to the model. Defaults to False. + const (float, optional): learnable weight to be multiplied for h(v). Defaults to None. + use_differentiable_astar (bool, optional): if the differentiable A* is used instead of standard A*. Defaults to True. + + Examples: + >>> planner = NeuralAstar() + >>> outputs = planner(map_designs, start_maps, goal_maps) + >>> histories = outputs.histories + >>> paths = outputs.paths + + Note: + For perform inference on a large map, set use_differentiable_astar = False to peform a faster A* with priority queue + """ + + super().__init__() + self.astar = DifferentiableAstar( + g_ratio=g_ratio, + Tmax=Tmax, + ) + self.encoder_input = encoder_input + encoder_arch = getattr(encoder, encoder_arch) + self.encoder = encoder_arch(len(self.encoder_input), encoder_depth, const) + self.learn_obstacles = learn_obstacles + if self.learn_obstacles: + print("WARNING: learn_obstacles has been set to True") + self.g_ratio = g_ratio + self.use_differentiable_astar = use_differentiable_astar + + def encode( + self, + map_designs: torch.tensor, + start_maps: torch.tensor, + goal_maps: torch.tensor, + ) -> torch.tensor: + """ + Encode the input problem + + Args: + map_designs (torch.tensor): map designs (obstacle maps or raw image) + start_maps (torch.tensor): start maps indicating the start location with one-hot binary map + goal_maps (torch.tensor): goal maps indicating the goal location with one-hot binary map + + Returns: + torch.tensor: predicted cost maps + """ + inputs = map_designs + if "+" in self.encoder_input: + if map_designs.shape[-1] == start_maps.shape[-1]: + inputs = torch.cat((inputs, start_maps + goal_maps), dim=1) + else: + upsampler = nn.UpsamplingNearest2d(map_designs.shape[-2:]) + inputs = torch.cat((inputs, upsampler(start_maps + goal_maps)), dim=1) + cost_maps = self.encoder(inputs) + + return cost_maps + + def forward( + self, + map_designs: torch.tensor, + start_maps: torch.tensor, + goal_maps: torch.tensor, + store_intermediate_results: bool = False, + ) -> AstarOutput: + """ + Perform neural A* search + + Args: + map_designs (torch.tensor): map designs (obstacle maps or raw image) + start_maps (torch.tensor): start maps indicating the start location with one-hot binary map + goal_maps (torch.tensor): goal maps indicating the goal location with one-hot binary map + store_intermediate_results (bool, optional): If the intermediate search results are stored in Astar output. Defaults to False. + + Returns: + AstarOutput: search histories and solution paths, and optionally intermediate search results. + """ + + cost_maps = self.encode(map_designs, start_maps, goal_maps) + obstacles_maps = ( + map_designs if not self.learn_obstacles else torch.ones_like(start_maps) + ) + + return self.perform_astar( + cost_maps, + start_maps, + goal_maps, + obstacles_maps, + store_intermediate_results, + ) diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/differentiable_astar.py b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/differentiable_astar.py new file mode 100644 index 00000000..3ad0133a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/differentiable_astar.py @@ -0,0 +1,267 @@ +"""Differentiable A* module and helper functions +Author: Ryo Yonetani, Mohammadamin Barekatain +Affiliation: OSX +""" + +from __future__ import annotations + +import math +from typing import List, NamedTuple, Optional + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +class AstarOutput(NamedTuple): + """ + Output structure of A* search planners + """ + + histories: torch.tensor + paths: torch.tensor + intermediate_results: Optional[List[dict]] = None + + +def get_heuristic(goal_maps: torch.tensor, tb_factor: float = 0.001) -> torch.tensor: + """ + Get heuristic function for A* search (chebyshev + small const * euclidean) + + Args: + goal_maps (torch.tensor): one-hot matrices of goal locations + tb_factor (float, optional): small constant weight for tie-breaking. Defaults to 0.001. + + Returns: + torch.tensor: heuristic function matrices + """ + + # some preprocessings to deal with mini-batches + num_samples, H, W = goal_maps.shape[0], goal_maps.shape[-2], goal_maps.shape[-1] + grid = torch.meshgrid(torch.arange(0, H), torch.arange(0, W)) + loc = torch.stack(grid, dim=0).type_as(goal_maps) + loc_expand = loc.reshape(2, -1).unsqueeze(0).expand(num_samples, 2, -1) + goal_loc = torch.einsum("kij, bij -> bk", loc, goal_maps) + goal_loc_expand = goal_loc.unsqueeze(-1).expand(num_samples, 2, -1) + + # chebyshev distance + dxdy = torch.abs(loc_expand - goal_loc_expand) + h = dxdy.sum(dim=1) - dxdy.min(dim=1)[0] + euc = torch.sqrt(((loc_expand - goal_loc_expand) ** 2).sum(1)) + h = (h + tb_factor * euc).reshape_as(goal_maps) + + return h + + +def _st_softmax_noexp(val: torch.tensor) -> torch.tensor: + """ + Softmax + discretized activation + Used a detach() trick as done in straight-through softmax + + Args: + val (torch.tensor): exponential of inputs. + + Returns: + torch.tensor: one-hot matrices for input argmax. + """ + + val_ = val.reshape(val.shape[0], -1) + y = val_ / (val_.sum(dim=-1, keepdim=True)) + _, ind = y.max(dim=-1) + y_hard = torch.zeros_like(y) + y_hard[range(len(y_hard)), ind] = 1 + y_hard = y_hard.reshape_as(val) + y = y.reshape_as(val) + return (y_hard - y).detach() + y + + +def expand(x: torch.tensor, neighbor_filter: torch.tensor) -> torch.tensor: + """ + Expand neighboring node + + Args: + x (torch.tensor): selected nodes + neighbor_filter (torch.tensor): 3x3 filter to indicate 8 neighbors + + Returns: + torch.tensor: neighboring nodes of x + """ + + x = x.unsqueeze(0) + num_samples = x.shape[1] + y = F.conv2d(x, neighbor_filter, padding=1, groups=num_samples).squeeze() + y = y.squeeze(0) + return y + + +def backtrack( + start_maps: torch.tensor, + goal_maps: torch.tensor, + parents: torch.tensor, + current_t: int, +) -> torch.tensor: + """ + Backtrack the search results to obtain paths + + Args: + start_maps (torch.tensor): one-hot matrices for start locations + goal_maps (torch.tensor): one-hot matrices for goal locations + parents (torch.tensor): parent nodes + current_t (int): current time step + + Returns: + torch.tensor: solution paths + """ + + num_samples = start_maps.shape[0] + parents = parents.type(torch.long) + goal_maps = goal_maps.type(torch.long) + start_maps = start_maps.type(torch.long) + path_maps = goal_maps.type(torch.long) + num_samples = len(parents) + loc = (parents * goal_maps.view(num_samples, -1)).sum(-1) + for _ in range(current_t): + path_maps.view(num_samples, -1)[range(num_samples), loc] = 1 + loc = parents[range(num_samples), loc] + return path_maps + + +class DifferentiableAstar(nn.Module): + def __init__(self, g_ratio: float = 0.5, Tmax: float = 1.0): + """ + Differentiable A* module + + Args: + g_ratio (float, optional): ratio between g(v) + h(v). Set 0 to perform as best-first search. Defaults to 0.5. + Tmax (float, optional): how much of the map the planner explores during training. Defaults to 1.0. + """ + + super().__init__() + + neighbor_filter = torch.ones(1, 1, 3, 3) + neighbor_filter[0, 0, 1, 1] = 0 + + self.neighbor_filter = nn.Parameter(neighbor_filter, requires_grad=False) + self.get_heuristic = get_heuristic + + self.g_ratio = g_ratio + assert (Tmax > 0) & (Tmax <= 1), "Tmax must be within (0, 1]" + self.Tmax = Tmax + + def forward( + self, + cost_maps: torch.tensor, + start_maps: torch.tensor, + goal_maps: torch.tensor, + obstacles_maps: torch.tensor, + store_intermediate_results: bool = False, + ) -> AstarOutput: + """ + Perform differentiable A* search + + Args: + cost_maps (torch.tensor): cost maps + start_maps (torch.tensor): start maps indicating the start location with one-hot binary map + goal_maps (torch.tensor): goal maps indicating the goal location with one-hot binary map + obstacle_maps (torch.tensor): binary maps indicating obstacle locations + store_intermediate_results (bool, optional): If the intermediate search results are stored in Astar output. Defaults to False. + + Returns: + AstarOutput: search histories and solution paths, and optionally intermediate search results. + """ + + assert cost_maps.ndim == 4 + assert start_maps.ndim == 4 + assert goal_maps.ndim == 4 + assert obstacles_maps.ndim == 4 + + cost_maps = cost_maps[:, 0] + start_maps = start_maps[:, 0] + goal_maps = goal_maps[:, 0] + obstacles_maps = obstacles_maps[:, 0] + + num_samples = start_maps.shape[0] + neighbor_filter = self.neighbor_filter + neighbor_filter = torch.repeat_interleave(neighbor_filter, num_samples, 0) + size = start_maps.shape[-1] + + open_maps = start_maps + histories = torch.zeros_like(start_maps) + intermediate_results = [] + + h = self.get_heuristic(goal_maps) + h = h + cost_maps + g = torch.zeros_like(start_maps) + + parents = ( + torch.ones_like(start_maps).reshape(num_samples, -1) + * goal_maps.reshape(num_samples, -1).max(-1, keepdim=True)[-1] + ) + + size = cost_maps.shape[-1] + Tmax = self.Tmax if self.training else 1.0 + Tmax = int(Tmax * size * size) + for t in range(Tmax): + + # select the node that minimizes cost + f = self.g_ratio * g + (1 - self.g_ratio) * h + f_exp = torch.exp(-1 * f / math.sqrt(cost_maps.shape[-1])) + f_exp = f_exp * open_maps + selected_node_maps = _st_softmax_noexp(f_exp) + if store_intermediate_results: + intermediate_results.append( + { + "histories": histories.unsqueeze(1).detach(), + "paths": selected_node_maps.unsqueeze(1).detach(), + } + ) + + # break if arriving at the goal + dist_to_goal = (selected_node_maps * goal_maps).sum((1, 2), keepdim=True) + is_unsolved = (dist_to_goal < 1e-8).float() + + histories = histories + selected_node_maps + histories = torch.clamp(histories, 0, 1) + open_maps = open_maps - is_unsolved * selected_node_maps + open_maps = torch.clamp(open_maps, 0, 1) + + # open neighboring nodes, add them to the openlist if they satisfy certain requirements + neighbor_nodes = expand(selected_node_maps, neighbor_filter) + neighbor_nodes = neighbor_nodes * obstacles_maps + + # update g if one of the following conditions is met + # 1) neighbor is not in the close list (1 - histories) nor in the open list (1 - open_maps) + # 2) neighbor is in the open list but g < g2 + g2 = expand((g + cost_maps) * selected_node_maps, neighbor_filter) + idx = (1 - open_maps) * (1 - histories) + open_maps * (g > g2) + idx = idx * neighbor_nodes + idx = idx.detach() + g = g2 * idx + g * (1 - idx) + g = g.detach() + + # update open maps + open_maps = torch.clamp(open_maps + idx, 0, 1) + open_maps = open_maps.detach() + + # for backtracking + idx = idx.reshape(num_samples, -1) + snm = selected_node_maps.reshape(num_samples, -1) + new_parents = snm.max(-1, keepdim=True)[1] + parents = new_parents * idx + parents * (1 - idx) + + if torch.all(is_unsolved.flatten() == 0): + break + + # backtracking + path_maps = backtrack(start_maps, goal_maps, parents, t) + + if store_intermediate_results: + intermediate_results.append( + { + "histories": histories.unsqueeze(1).detach(), + "paths": path_maps.unsqueeze(1).detach(), + } + ) + + return AstarOutput( + histories.unsqueeze(1), path_maps.unsqueeze(1), intermediate_results + ) diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/encoder.py b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/encoder.py new file mode 100644 index 00000000..ec32d175 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/encoder.py @@ -0,0 +1,97 @@ +"""Encoder module +Author: Ryo Yonetani +Affiliation: OSX +""" +from __future__ import annotations + +import segmentation_models_pytorch as smp +import torch +import torch.nn as nn + + +class EncoderBase(nn.Module): + def __init__(self, input_dim: int, encoder_depth: int = 4, const: float = None): + """ + Base Encoder + + Args: + input_dim (int): input dimension + encoder_depth (int, optional): depth of the encoder. Defaults to 4. + const (float, optional): learnable weight to be multiplied for h(v). Defaults to None. + """ + super().__init__() + self.model = self.construct_encoder(input_dim, encoder_depth) + if const is not None: + self.const = nn.Parameter(torch.ones(1) * const) + else: + self.const = 1.0 + + def construct_encoder(self, input_dim, encoder_depth) -> nn.Module: + pass + + def forward(self, x): + y = torch.sigmoid(self.model(x)) + return y * self.const + + +class Unet(EncoderBase): + + DECODER_CHANNELS = [256, 128, 64, 32, 16] + + def construct_encoder(self, input_dim: int, encoder_depth: int) -> nn.Module: + """ + Unet encoder + + Args: + input_dim (int): input dimension + encoder_depth (int, optional): depth of the encoder. + """ + decoder_channels = self.DECODER_CHANNELS[:encoder_depth] + return smp.Unet( + encoder_name="vgg16_bn", + encoder_weights=None, + classes=1, + in_channels=input_dim, + encoder_depth=encoder_depth, + decoder_channels=decoder_channels, + ) + + +class CNN(EncoderBase): + + CHANNELS = [32, 64, 128, 256] + + def construct_encoder(self, input_dim: int, encoder_depth: int) -> nn.Module: + """ + Simple CNN encoder + + Args: + input_dim (int): input dimension + encoder_depth (int, optional): depth of the encoder. + """ + channels = [input_dim] + self.CHANNELS[:encoder_depth] + [1] + blocks = [] + for i in range(len(channels) - 1): + blocks.append(nn.Conv2d(channels[i], channels[i + 1], 3, 1, 1)) + blocks.append(nn.BatchNorm2d(channels[i + 1])) + blocks.append(nn.ReLU()) + return nn.Sequential(*blocks[:-1]) + + +class CNNDownSize(CNN): + def construct_encoder(self, input_dim: int, encoder_depth: int) -> nn.Module: + """ + Simple CNN encoder with downsize option + + Args: + input_dim (int): input dimension + encoder_depth (int, optional): depth of the encoder. + """ + channels = [input_dim] + self.CHANNELS[:encoder_depth] + [1] + blocks = [] + for i in range(len(channels) - 1): + blocks.append(nn.Conv2d(channels[i], channels[i + 1], 3, 1, 1)) + blocks.append(nn.BatchNorm2d(channels[i + 1])) + blocks.append(nn.ReLU()) + blocks.append(nn.MaxPool2d((2, 2))) + return nn.Sequential(*blocks[:-2]) diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/pq_astar.py b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/pq_astar.py new file mode 100644 index 00000000..d2b22b9e --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/neural_astar/planner/pq_astar.py @@ -0,0 +1,162 @@ +"""Standard A* search with priority queue +Author: Ryo Yonetani +Affiliation: OSX +""" + +from __future__ import annotations + +import numpy as np +import torch +from pqdict import pqdict + +from .differentiable_astar import AstarOutput + + +def get_neighbor_indices(idx: int, H: int, W: int) -> np.array: + """Get neighbor indices""" + + neighbor_indices = [] + if idx % W - 1 >= 0: + neighbor_indices.append(idx - 1) + if idx % W + 1 < W: + neighbor_indices.append(idx + 1) + if idx // W - 1 >= 0: + neighbor_indices.append(idx - W) + if idx // W + 1 < H: + neighbor_indices.append(idx + W) + if (idx % W - 1 >= 0) & (idx // W - 1 >= 0): + neighbor_indices.append(idx - W - 1) + if (idx % W + 1 < W) & (idx // W - 1 >= 0): + neighbor_indices.append(idx - W + 1) + if (idx % W - 1 >= 0) & (idx // W + 1 < H): + neighbor_indices.append(idx + W - 1) + if (idx % W + 1 < W) & (idx // W + 1 < H): + neighbor_indices.append(idx + W + 1) + + return np.array(neighbor_indices) + + +def compute_chebyshev_distance(idx: int, goal_idx: int, W: int) -> float: + """Compute chebyshev heuristic""" + + loc = np.array([idx % W, idx // W]) + goal_loc = np.array([goal_idx % W, goal_idx // W]) + dxdy = np.abs(loc - goal_loc) + h = dxdy.sum() - dxdy.min() + euc = np.sqrt(((loc - goal_loc) ** 2).sum()) + return h + 0.001 * euc + + +def get_history(close_list: list, H: int, W: int) -> np.array: + """Get search history""" + + history = np.array([[idx % W, idx // W] for idx in close_list.keys()]) + history_map = np.zeros((H, W)) + history_map[history[:, 1], history[:, 0]] = 1 + + return history_map + + +def backtrack(parent_list: list, goal_idx: int, H: int, W: int) -> np.array: + """Backtrack to obtain path""" + + current_idx = goal_idx + path = [] + while current_idx != None: + path.append([current_idx % W, current_idx // W]) + current_idx = parent_list[current_idx] + path = np.array(path) + path_map = np.zeros((H, W)) + path_map[path[:, 1], path[:, 0]] = 1 + + return path_map + + +def pq_astar( + pred_costs: np.array, + start_maps: np.array, + goal_maps: np.array, + map_designs: np.array, + store_intermediate_results: bool = False, + g_ratio: float = 0.5, +) -> AstarOutput: + """Perform standard A* on a batch of problems""" + + assert ( + store_intermediate_results == False + ), "store_intermediate_results = True is currently supported only for differentiable A*" + + pred_costs_np = pred_costs.detach().numpy() + start_maps_np = start_maps.detach().numpy() + goal_maps_np = goal_maps.detach().numpy() + map_designs_np = map_designs.detach().numpy() + histories = np.zeros_like(goal_maps_np) + path_maps = np.zeros_like(goal_maps_np, np.int64) + for n in range(len(pred_costs)): + histories[n, 0], path_maps[n, 0] = solve_single( + pred_costs_np[n, 0], + start_maps_np[n, 0], + goal_maps_np[n, 0], + map_designs_np[n, 0], + g_ratio, + ) + + return AstarOutput(torch.tensor(histories), torch.tensor(path_maps)) + + +def solve_single( + pred_cost: np.array, + start_map: np.array, + goal_map: np.array, + map_design: np.array, + g_ratio: float = 0.5, +) -> list: + """Solve a single problem""" + + H, W = map_design.shape + start_idx = np.argwhere(start_map.flatten()).item() + goal_idx = np.argwhere(goal_map.flatten()).item() + map_design_vct = map_design.flatten() + pred_cost_vct = pred_cost.flatten() + open_list = pqdict() + close_list = pqdict() + open_list.additem(start_idx, 0) + parent_list = dict() + parent_list[start_idx] = None + + num_steps = 0 + while goal_idx not in close_list: + if len(open_list) == 0: + print("goal not found") + return np.zeros_like(goal_map), np.zeros_like(goal_map) + num_steps += 1 + idx_selected, f_selected = open_list.popitem() + close_list.additem(idx_selected, f_selected) + for idx_nei in get_neighbor_indices(idx_selected, H, W): + + if map_design_vct[idx_nei] == 1: + f_new = ( + f_selected + - (1 - g_ratio) + * compute_chebyshev_distance(idx_selected, goal_idx, W) + + g_ratio * pred_cost_vct[idx_nei] + + (1 - g_ratio) * compute_chebyshev_distance(idx_nei, goal_idx, W) + ) + + # conditions for the nodes not yet in the open list nor closed list + cond = (idx_nei not in open_list) & (idx_nei not in close_list) + + # condition for the nodes already in the open list but with larger f value + if idx_nei in open_list: + cond = cond | (open_list[idx_nei] > f_new) + + if cond: + try: + open_list.additem(idx_nei, f_new) + except: + open_list[idx_nei] = f_new + parent_list[idx_nei] = idx_selected + + history_map = get_history(close_list, H, W) + path_map = backtrack(parent_list, goal_idx, H, W) + return history_map, path_map diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__init__.py b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/__init__.cpython-310.pyc b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 00000000..10199ec4 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/__init__.cpython-310.pyc differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/__init__.cpython-311.pyc b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/__init__.cpython-311.pyc new file mode 100644 index 00000000..22e1c1e9 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/__init__.cpython-311.pyc differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/data.cpython-311.pyc b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/data.cpython-311.pyc new file mode 100644 index 00000000..141c4b76 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/data.cpython-311.pyc differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/training.cpython-310.pyc b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/training.cpython-310.pyc new file mode 100644 index 00000000..7362fb05 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/training.cpython-310.pyc differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/training.cpython-311.pyc b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/training.cpython-311.pyc new file mode 100644 index 00000000..e11c1f5f Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/__pycache__/training.cpython-311.pyc differ diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/data.py b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/data.py new file mode 100644 index 00000000..6738f4fc --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/data.py @@ -0,0 +1,295 @@ +"""Customized dataset +Author: Ryo Yonetani, Mohammadamin Barekatain +Affiliation: OSX +""" + +from __future__ import annotations, print_function + +import numpy as np +import torch +import torch.utils.data as data +from neural_astar.planner.differentiable_astar import AstarOutput +from PIL import Image +from torchvision.utils import make_grid + + +def visualize_results( + map_designs: torch.tensor, planner_outputs: AstarOutput, scale: int = 1 +) -> np.ndarray: + """ + Create a visualization of search results + + Args: + map_designs (torch.tensor): input maps + planner_outputs (AstarOutput): outputs from planner + scale (int): scale factor to enlarge output images. Default to 1. + + Returns: + np.ndarray: visualized results + """ + + if type(planner_outputs) == dict: + histories = planner_outputs["histories"] + paths = planner_outputs["paths"] + else: + histories = planner_outputs.histories + paths = planner_outputs.paths + results = make_grid(map_designs).permute(1, 2, 0) + h = make_grid(histories).permute(1, 2, 0) + p = make_grid(paths).permute(1, 2, 0).float() + results[h[..., 0] == 1] = torch.tensor([0.2, 0.8, 0]) + results[p[..., 0] == 1] = torch.tensor([1.0, 0.0, 0]) + + results = ((results.numpy()) * 255.0).astype("uint8") + + if scale > 1: + results = Image.fromarray(results).resize( + [x * scale for x in results.shape[:2]], resample=Image.NEAREST + ) + results = np.asarray(results) + + return results + + +def create_dataloader( + filename: str, + split: str, + batch_size: int, + num_starts: int = 1, + shuffle: bool = False, +) -> data.DataLoader: + """ + Create dataloader from npz file + + Args: + filename (str): npz file that contains train, val, and test data + split (str): data split: either train, valid, or test + batch_size (int): batch size + num_starts (int): number of starting points for each problem instance. Default to 1. + shuffle (bool, optional): whether to shuffle samples. Defaults to False. + + Returns: + torch.utils.data.DataLoader: dataloader + """ + + dataset = MazeDataset(filename, split, num_starts=num_starts) + return data.DataLoader( + dataset, batch_size=batch_size, shuffle=shuffle, num_workers=0 + ) + + +class MazeDataset(data.Dataset): + def __init__( + self, + filename: str, + split: str, + pct1: float = 0.55, + pct2: float = 0.70, + pct3: float = 0.85, + num_starts: int = 1, + ): + """ + Custom dataset for shortest path problems + See planning-datasets repository for how to create original file. + + Args: + filename (str): npz file that contains train, val, and test data + split (str): data split: either train, valid, or test + pct1 (float, optional): threshold 1 for sampling start locations . Defaults to .55. + pct2 (float, optional): threshold 2 for sampling start locations . Defaults to .70. + pct3 (float, optional): threshold 3 for sampling start locations . Defaults to .85. + num_starts (int): number of starting points for each problem instance. Default to 1. + + Note: + __getitem__ will return the following matrices: + - map_design [1, 1, W, W]: obstacles map that takes 1 for passable locations + - start_map [1, num_starts, W, W]: one-hot matrices indicating (num_starts) starting points + - goal_map [1, 1, W, W]: one-hot matrix indicating the goal point + - opt_traj [1, num_starts, W, W]: binary matrices indicating optimal paths from starts to the goal + + """ + assert filename.endswith("npz") # Must be .npz format + self.filename = filename + self.dataset_type = split # train, valid, test + self.pcts = np.array([pct1, pct2, pct3, 1.0]) + self.num_starts = num_starts + + ( + self.map_designs, + self.goal_maps, + self.opt_policies, + self.opt_dists, + ) = self._process(filename) + + self.num_actions = self.opt_policies.shape[1] + self.num_orient = self.opt_policies.shape[2] + + def _process(self, filename: str): + with np.load(filename) as f: + dataset2idx = {"train": 0, "valid": 4, "test": 8} + idx = dataset2idx[self.dataset_type] + map_designs = f["arr_" + str(idx)] + goal_maps = f["arr_" + str(idx + 1)] + opt_policies = f["arr_" + str(idx + 2)] + opt_dists = f["arr_" + str(idx + 3)] + + # Set proper datatypes + map_designs = map_designs.astype(np.float32) + goal_maps = goal_maps.astype(np.float32) + opt_policies = opt_policies.astype(np.float32) + opt_dists = opt_dists.astype(np.float32) + + # Print number of samples + if self.dataset_type == "train": + print("Number of Train Samples: {0}".format(map_designs.shape[0])) + elif self.dataset_type == "valid": + print("Number of Validation Samples: {0}".format(map_designs.shape[0])) + else: + print("Number of Test Samples: {0}".format(map_designs.shape[0])) + print("\tSize: {}x{}".format(map_designs.shape[1], map_designs.shape[2])) + return map_designs, goal_maps, opt_policies, opt_dists + + def __getitem__(self, index: int): + map_design = self.map_designs[index][np.newaxis] + goal_map = self.goal_maps[index] + opt_policy = self.opt_policies[index] + opt_dist = self.opt_dists[index] + start_maps, opt_trajs = [], [] + for i in range(self.num_starts): + start_map = self.get_random_start_map(opt_dist) + opt_traj = self.get_opt_traj(start_map, goal_map, opt_policy) + start_maps.append(start_map) + opt_trajs.append(opt_traj) + start_map = np.concatenate(start_maps) + opt_traj = np.concatenate(opt_trajs) + + return map_design, start_map, goal_map, opt_traj + + def __len__(self): + return self.map_designs.shape[0] + + def get_opt_traj( + self, start_map: np.array, goal_map: np.array, opt_policy: np.array + ) -> np.array: + """ + Get optimal path from start to goal using pre-computed optimal policy + + Args: + start_map (np.array): one-hot matrix for start location + goal_map (np.array): one-hot matrix for goal location + opt_policy (np.array): optimal policy to arrive at goal location from arbitrary locations + + Returns: + np.array: optimal path + """ + + opt_traj = np.zeros_like(start_map) + opt_policy = opt_policy.transpose((1, 2, 3, 0)) + current_loc = tuple(np.array(np.nonzero(start_map)).squeeze()) + goal_loc = tuple(np.array(np.nonzero(goal_map)).squeeze()) + while goal_loc != current_loc: + opt_traj[current_loc] = 1.0 + next_loc = self.next_loc(current_loc, opt_policy[current_loc]) + assert ( + opt_traj[next_loc] == 0.0 + ), "Revisiting the same position while following the optimal policy" + current_loc = next_loc + + return opt_traj + + def get_random_start_map(self, opt_dist: np.array) -> np.array: + """ + Get random start map + This function first chooses one of 55-70, 70-85, and 85-100 percentile intervals. + Then it picks out a random single point from the region in the selected interval. + + Args: + opt_dist (np.array): optimal distances from each location to goal + + Returns: + np.array: one-hot matrix of start location + """ + od_vct = opt_dist.flatten() + od_vals = od_vct[od_vct > od_vct.min()] + od_th = np.percentile(od_vals, 100.0 * (1 - self.pcts)) + r = np.random.randint(0, len(od_th) - 1) + start_candidate = (od_vct >= od_th[r + 1]) & (od_vct <= od_th[r]) + start_idx = np.random.choice(np.where(start_candidate)[0]) + start_map = np.zeros_like(opt_dist) + start_map.ravel()[start_idx] = 1.0 + + return start_map + + def next_loc(self, current_loc: tuple, one_hot_action: np.array) -> tuple: + """ + Choose next location based on the selected action + + Args: + current_loc (tuple): current location + one_hot_action (np.array): one-hot action selected by optimal policy + + Returns: + tuple: next location + """ + action_to_move = [ + (0, -1, 0), + (0, 0, +1), + (0, 0, -1), + (0, +1, 0), + (0, -1, +1), + (0, -1, -1), + (0, +1, +1), + (0, +1, -1), + ] + move = action_to_move[np.argmax(one_hot_action)] + return tuple(np.add(current_loc, move)) + + +def create_warcraft_dataloader( + dirname: str, + split: str, + batch_size: int, + shuffle: bool = False, +) -> data.DataLoader: + """ + Create dataloader from npz file + + Args: + dirname (str): directory name + split (str): data split: either train, valid, or test + batch_size (int): batch size + shuffle (bool, optional): whether to shuffle samples. Defaults to False. + + Returns: + torch.utils.data.DataLoader: dataloader + """ + + dataset = WarCraftDataset(dirname, split) + return data.DataLoader( + dataset, batch_size=batch_size, shuffle=shuffle, num_workers=0 + ) + + +class WarCraftDataset(data.Dataset): + def __init__( + self, + dirname: str, + split: str, + ): + self.map_designs = ( + (np.load(f"{dirname}/{split}_maps.npy").transpose(0, 3, 1, 2) / 255.0) + ).astype(np.float32) + self.paths = np.load(f"{dirname}/{split}_shortest_paths.npy").astype(np.float32) + + def __getitem__(self, index: int): + map_design = self.map_designs[index] + opt_traj = self.paths[index][np.newaxis] + start_map = np.zeros_like(opt_traj) + start_map[:, 0, 0] = 1 + goal_map = np.zeros_like(opt_traj) + goal_map[:, -1, -1] = 1 + + return map_design, start_map, goal_map, opt_traj + + def __len__(self): + return self.map_designs.shape[0] diff --git a/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/training.py b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/training.py new file mode 100644 index 00000000..da8aebe4 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/neural_astar/utils/training.py @@ -0,0 +1,101 @@ +from __future__ import annotations + +import random +import re +from glob import glob + +import numpy as np +import pytorch_lightning as pl +import torch +import torch.nn as nn +import torch.optim +from neural_astar.planner.astar import VanillaAstar + + +def load_from_ptl_checkpoint(checkpoint_path: str) -> dict: + """ + Load model weights from PyTorch Lightning checkpoint. + + Args: + checkpoint_path (str): (parent) directory where .ckpt is stored. + + Returns: + dict: model state dict + """ + # print(checkpoint_path) + ckpt_file = sorted(glob(f"{checkpoint_path}/**/*.ckpt", recursive=True))[-1] + print(f"load {ckpt_file}") + state_dict = torch.load(ckpt_file)["state_dict"] + state_dict_extracted = dict() + for key in state_dict: + if "planner" in key: + state_dict_extracted[re.split("planner.", key)[-1]] = state_dict[key] + + return state_dict_extracted + + +class PlannerModule(pl.LightningModule): + def __init__(self, planner, config): + super().__init__() + self.planner = planner + self.vanilla_astar = VanillaAstar() + self.config = config + + def forward(self, map_designs, start_maps, goal_maps): + return self.planner(map_designs, start_maps, goal_maps) + + def configure_optimizers(self) -> torch.optim.Optimizer: + return torch.optim.RMSprop(self.planner.parameters(), self.config.params.lr) + + def training_step(self, train_batch, batch_idx): + map_designs, start_maps, goal_maps, opt_trajs = train_batch + outputs = self.forward(map_designs, start_maps, goal_maps) + loss = nn.L1Loss()(outputs.histories, opt_trajs) + self.log("metrics/train_loss", loss) + + return loss + + def validation_step(self, val_batch, batch_idx): + map_designs, start_maps, goal_maps, opt_trajs = val_batch + outputs = self.forward(map_designs, start_maps, goal_maps) + loss = nn.L1Loss()(outputs.histories, opt_trajs) + + self.log("metrics/val_loss", loss) + + # For shortest path problems: + if map_designs.shape[1] == 1: + va_outputs = self.vanilla_astar(map_designs, start_maps, goal_maps) + pathlen_astar = va_outputs.paths.sum((1, 2, 3)).detach().cpu().numpy() + pathlen_model = outputs.paths.sum((1, 2, 3)).detach().cpu().numpy() + p_opt = (pathlen_astar == pathlen_model).mean() + + exp_astar = va_outputs.histories.sum((1, 2, 3)).detach().cpu().numpy() + exp_na = outputs.histories.sum((1, 2, 3)).detach().cpu().numpy() + p_exp = np.maximum((exp_astar - exp_na) / exp_astar, 0.0).mean() + + h_mean = 2.0 / (1.0 / (p_opt + 1e-10) + 1.0 / (p_exp + 1e-10)) + + self.log("metrics/p_opt", p_opt) + self.log("metrics/p_exp", p_exp) + self.log("metrics/h_mean", h_mean) + + return loss + + +def set_global_seeds(seed: int) -> None: + """ + Set random seeds + + Args: + seed (int): random seed + """ + + torch.manual_seed(seed) + + if torch.cuda.is_available(): + torch.cuda.manual_seed_all(seed) + torch.backends.cudnn.deterministic = True + torch.backends.cudnn.benchmark = False + + np.random.seed(seed) + random.seed(seed) diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/.gitmodules b/nyxNOVA-master/nyxNOVA-be/planning-datasets/.gitmodules new file mode 100644 index 00000000..be0629cd --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/.gitmodules @@ -0,0 +1,3 @@ +[submodule "data/mpd/original"] + path = data/mpd/original + url = https://github.com/mohakbhardwaj/motion_planning_datasets diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/0_MP.sh b/nyxNOVA-master/nyxNOVA-be/planning-datasets/0_MP.sh new file mode 100644 index 00000000..19770162 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/0_MP.sh @@ -0,0 +1,8 @@ +# Create train/val/test splits for MP dataset +# Author: Ryo Yonetani +# Affiliation: OMRON SINIC X + +for maze in alternating_gaps bugtrap_forest forest gaps_and_forest mazes multiple_bugtraps shifting_gaps single_bugtrap +do +python generate_spp_instances.py --input-path data/mpd/original/$maze --output-path data/mpd/ --maze-size 32 --mechanism moore --edge-ratio 0.25 +done \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/1_TiledMP.sh b/nyxNOVA-master/nyxNOVA-be/planning-datasets/1_TiledMP.sh new file mode 100644 index 00000000..aef2e758 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/1_TiledMP.sh @@ -0,0 +1,5 @@ +# Create train/val/test splits for Tiled MP dataset +# Author: Ryo Yonetani +# Affiliation: OMRON SINIC X + +python generate_spp_instances.py --input-path "data/mpd/original/*" --output-path data/mpd/ --maze-size 32 --mechanism moore --edge-ratio 0.25 --tile-size=2 --train-size 3200 --valid-size 400 --test-size 400 \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/2_CSM.sh b/nyxNOVA-master/nyxNOVA-be/planning-datasets/2_CSM.sh new file mode 100644 index 00000000..89d7ffe0 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/2_CSM.sh @@ -0,0 +1,14 @@ +# Create train/val/test splits for CSM dataset +# Author: Ryo Yonetani +# Affiliation: OMRON SINIC X + +mkdir -p data/street/original +mkdir -p data/street/original/all +wget https://www.movingai.com/benchmarks/street/street-png.zip -O data/street/original/street-png.zip +unzip data/street/original/street-png.zip -d data/street/original/all/ +mkdir -p data/street/original/mixed/train +mkdir -p data/street/original/mixed/validation +mkdir -p data/street/original/mixed/test + +python preprocess_street_dataset.py +python generate_spp_instances.py --input-path data/street/original/mixed --output-path data/street/ --maze-size 64 --mechanism moore --edge-ratio 0.25 --train-size 3200 --valid-size 400 --test-size 400 \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/3_SDD.sh b/nyxNOVA-master/nyxNOVA-be/planning-datasets/3_SDD.sh new file mode 100644 index 00000000..d3764bd4 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/3_SDD.sh @@ -0,0 +1,12 @@ +# Create train/val/test splits for SDD +# Author: Ryo Yonetani +# Affiliation: OMRON SINIC X + +mkdir -p data/sdd/original +wget https://www.dropbox.com/s/v9jvt4ln7t42m6m/StanfordDroneDataset.zip -O data/sdd/original/SDD.zip +unzip data/sdd/original/SDD.zip -d data/sdd +mv data/sdd/SDD/* data/sdd/original/ +rm -r data/sdd/SDD +rm data/sdd/original/SDD.zip + +python generate_sdd_instances.py \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/LICENSE b/nyxNOVA-master/nyxNOVA-be/planning-datasets/LICENSE new file mode 100644 index 00000000..e4e2923d --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/LICENSE @@ -0,0 +1,24 @@ +MIT License + +Copyright (c) 2021 OMRON SINIC X Corporation + +Copyright for portions of this project are held by Lisa Lee, 2018 as part of project gated-path-planning-networks +All other copyright for project planning-datasets are held by OMRON SINIC X Corporation, 2021. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/README.md b/nyxNOVA-master/nyxNOVA-be/planning-datasets/README.md new file mode 100644 index 00000000..10083c91 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/README.md @@ -0,0 +1,46 @@ +# Datasets for Path Planning using Neural A* Search (ICML'21) + +This repository is for generating datasets used in our project: + +Ryo Yonetani\*, Tatsunori Taniai\*, Mohammadamin Barekatain, Mai Nishimura, Asako Kanezaki, "Path Planning using Neural A\* Search", ICML, 2021 [[paper]](https://arxiv.org/abs/2009.07476) [[project page]](https://omron-sinicx.github.io/neural-astar/) + +## Getting Started + +### Prerequisites +- python3 (>=3.7.7) +- python3-venv + +### Install using venv +```sh +$ git submodule update --init --recursive # if you forget --recursive option +$ python3 -m venv venv +$ source activate venv/bin/activate +$ pip install -e . +``` + +### Generate datasets + +```sh +$ sh 0_MP.sh # generate shortest path problem instances for MP dataset +$ sh 1_TiledMP.sh # for Tiled MP dataset +$ sh 2_CSM.sh # for CSM dataset +$ sh 3_SDD.sh # generate image+pedestrian traj instances from Stanford Drone Dataset +``` + +If you want to fully reproduce our result for MP, TiledMP, and CSM datasets, please use the original data included in this repository. + + +### Acknowledgments + +- This repository includes some code from [RLAgent/gated-path-planning-networks](https://github.com/RLAgent/gated-path-planning-networks) [1], with permission of the authors. +- MP and TiledMP datasets are created from [mohakbhardwaj/motion_planning_datasets](https://github.com/mohakbhardwaj/motion_planning_datasets) [2]. +- CSM dataset is created using [City/Street Maps in Pathfinding Benchmarks](https://movingai.com/benchmarks/grids.html) [3]. +- SDD dataset is created using Stanford Drone Dataset [4] reorganized in [crowdbotp/OpenTraj](https://github.com/crowdbotp/OpenTraj) [5]. + + +### Reference +- [1] [Lisa Lee*, Emilio Parisotto*, Devendra Singh Chaplot, Eric Xing, Ruslan Salakhutdinov, "Gated Path Planning Networks", ICML, 2018.](https://arxiv.org/abs/1806.06408) +- [2] [Mohak Bhardwaj, Sanjiban Choudhury, Sebastian Scherer, "Learning Heuristic Search via Imitation", CoRL, 2017.](https://arxiv.org/abs/1707.03034) +- [3] [Nathan Sturtevant, "Benchmarks for Grid-Based Pathfinding", Transactions on Computational Intelligence and AI in Games, 2012.](https://ieeexplore.ieee.org/document/6194296) +- [4] [Alexandre Robicquet, Amir Sadeghian, Alexandre Alahi, Silvio Savarese, "Learning social etiquette: Human trajectory understanding in crowded scenes", ECCV, 2016.](http://svl.stanford.edu/assets/papers/ECCV16social.pdf) +- [5] [Javad Amirian, Bingqing Zhang, Francisco Valente Castro, Juan Jose Baldelomar, Jean-Bernard Hayet, Julien Pettre, "OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets", ACCV, 2020.](https://arxiv.org/abs/2010.00890 ) diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/all_064_moore_c16.npz b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/all_064_moore_c16.npz new file mode 100644 index 00000000..8daf4150 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/all_064_moore_c16.npz differ diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/alternating_gaps_032_moore_c8.npz b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/alternating_gaps_032_moore_c8.npz new file mode 100644 index 00000000..bb4870ae Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/alternating_gaps_032_moore_c8.npz differ diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/bugtrap_forest_032_moore_c8.npz 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a/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/mazes_032_moore_c8.npz b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/mazes_032_moore_c8.npz new file mode 100644 index 00000000..77cdc3cb Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/mazes_032_moore_c8.npz differ diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/multiple_bugtraps_032_moore_c8.npz b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/multiple_bugtraps_032_moore_c8.npz new file mode 100644 index 00000000..71fbf360 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/multiple_bugtraps_032_moore_c8.npz differ diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/original/LICENSE b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/original/LICENSE new file mode 100644 index 00000000..061d4e37 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/original/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2017, Mohak Bhardwaj +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/original/README.md b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/original/README.md new file mode 100644 index 00000000..4902fc5a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/mpd/original/README.md @@ -0,0 +1,2 @@ +# motion_planning_datasets +Datasets for testing motion planning algorithms. Planning environments are represented as PNG images, each of size 201x201. 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b/nyxNOVA-master/nyxNOVA-be/planning-datasets/data/street/mixed_064_moore_c16.npz differ diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/generate_sdd_instances.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/generate_sdd_instances.py new file mode 100644 index 00000000..0c426a7b --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/generate_sdd_instances.py @@ -0,0 +1,33 @@ +"""Generating data from SDD dataset +Author: Ryo Yonetani +Affiliation: OMRON SINIC X +""" + +import argparse + +from glob import glob +import numpy as np + +from planning_datasets_utils.SDD import create_sample_from_dataset + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--size', '-w', type=int, default=64) + parser.add_argument('--min-len-ratio', '-ml', type=float, default=0.5) + parser.add_argument('--min-max-size', '-mm,', type=int, default=128) + parser.add_argument('--max-step', '-ms,', type=int, default=300) + parser.add_argument('--save-dir', '-s', type=str, default='data/sdd') + + args = parser.parse_args() + W = int(args.size) + min_len_ratio = float(args.min_len_ratio) + min_max_size = int(args.min_max_size) + max_step = int(args.max_step) + save_dir = "%s/s%03d_%0.1f_%d_%d" % (args.save_dir, W, min_len_ratio, + min_max_size, max_step) + + np.random.seed(0) + + for data_dir in sorted(glob('data/sdd/original/*/video*')): + print(data_dir) + create_sample_from_dataset(data_dir, save_dir, W, min_len_ratio, min_max_size, max_step) diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/generate_spp_instances.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/generate_spp_instances.py new file mode 100644 index 00000000..2559f899 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/generate_spp_instances.py @@ -0,0 +1,152 @@ +"""Generating data for shortest path experiments +Author: Mohammadamin Barekatain, Ryo Yonetani +Affiliation: OMRON SINIC X +""" + +from __future__ import print_function +import argparse +import random +import os +import re + +import numpy as np +from skimage.util import montage + +from planning_datasets_utils import ( + load_maze_from_directory, + get_goalMaps_optPolicies_optDists, + get_mechanism, +) + + +def generate_data(input_path, train_size, valid_size, test_size, mechanism, + maze_size, edge_size, tile_size, output_filename): + mazes = [[] for _ in range(3)] + goal = [[] for _ in range(3)] + opt_policies = [[] for _ in range(3)] + opt_dists = [[] for _ in range(3)] + for i, (split, num_images) in enumerate( + zip(["train", "validation", "test"], + [train_size, valid_size, test_size])): + tmp = load_maze_from_directory(input_path, split, maze_size) + if tile_size == 1: + mazes[i] = tmp + else: + tmp_montage = np.zeros( + (num_images, maze_size * tile_size, maze_size * tile_size)) + for t in range(num_images): + idx = np.random.choice(len(tmp), tile_size * tile_size) + tmp_montage[t] = montage([tmp[j] for j in idx]) + mazes[i] = tmp_montage + goal[i], opt_policies[i], opt_dists[ + i] = get_goalMaps_optPolicies_optDists(mazes[i], + mechanism, + from_largest=True, + edge_size=edge_size, + input_path=input_path) + + np.savez_compressed( + output_filename, + mazes[0], + goal[0], + opt_policies[0], + opt_dists[0], + mazes[1], + goal[1], + opt_policies[1], + opt_dists[1], + mazes[2], + goal[2], + opt_policies[2], + opt_dists[2], + ) + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--input-path", + type=str, + required=True, + help="Directory to the dataset.") + parser.add_argument("--output-path", + type=str, + required=True, + help="Directory for the output data.") + parser.add_argument("--maze-size", + type=int, + required=True, + help="Size of mazes.") + parser.add_argument( + "--mechanism", + type=str, + required=True, + help="Maze transition mechanism. (news|diffdrive|moore)", + ) + parser.add_argument( + "--edge-ratio", + type=float, + default=0, + help="Size of edge regions to sample goals (0 to disable it)") + parser.add_argument("--train-size", + type=int, + default=800, + help="Number of training mazes.") + parser.add_argument("--valid-size", + type=int, + default=100, + help="Number of validation mazes.") + parser.add_argument("--test-size", + type=int, + default=100, + help="Number of test mazes.") + parser.add_argument("--seed", + type=int, + default=1372, + help="Random generator seed") + parser.add_argument("--tile-size", + type=int, + default=1, + help="Tiling maps (experimental).") + + args = parser.parse_args() + + mechanism = get_mechanism(args.mechanism) + + np.random.seed(args.seed) + random.seed(args.seed) + + input_path = args.input_path if args.input_path[ + -1] != "/" else args.input_path[:-1] + maze_name = re.split("/", input_path)[-1] + if '*' in maze_name: + maze_name = 'all' + + maze_size = int(args.maze_size) + tile_size = int(args.tile_size) + edge_size = int(args.edge_ratio * maze_size * tile_size) + train_size = args.train_size + valid_size = args.valid_size + test_size = args.test_size + output_filename = os.path.join( + args.output_path, + "{}_{:03d}_{}_c{}.npz".format(maze_name, maze_size * tile_size, + args.mechanism, edge_size), + ) + + print("input:{} output:{}".format(input_path, output_filename)) + + generate_data( + input_path, + train_size, + valid_size, + test_size, + mechanism, + maze_size, + edge_size, + tile_size, + output_filename, + ) + + +if __name__ == "__main__": + main() diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/SDD.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/SDD.py new file mode 100644 index 00000000..51ff3cf7 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/SDD.py @@ -0,0 +1,106 @@ +"""problem instance generation utils for SDD +Author: Ryo Yonetani +Affiliation: OMRON SINIC X +""" + +import os +import re + +import numpy as np +from PIL import Image +import pandas as pd +from scipy.ndimage import label as scipy_label + + +def create_sample_from_dataset(data_dirname: str, + save_dir: str, + W: int = 64, + min_len_ratio: float = 0.5, + min_max_size: int = 128, + max_step: int = 600): + """ + Create samples consisting raw images and ground truth pedestrian trajectories. + + Args: + data_dirname (str): directory containing reference.jpg and annotations.txt + save_dir (str): directory to store samples + W (int, optional): cropped image size. Defaults to 64. + min_len_ratio (float, optional): threshold parameter for trajectory complexity. Defaults to 0.5. + min_max_size (int, optional): minimum size for the bounding box that encompasses a trajectory. Defaults to 128. + max_step (int, optional): maximum number of steps in trajectories. Defaults to 600. + """ + dirname_split = re.split('/', data_dirname) + os.makedirs('%s/%s/%s' % (save_dir, dirname_split[-2], dirname_split[-1]), + exist_ok=True) + + label_all = { + 'Pedestrian': 0, + 'Biker': 1, + 'Skater': 2, + 'Car': 3, + 'Cart': 4, + 'Bus': 5 + } + ref_image = Image.open(os.path.join(data_dirname, 'reference.jpg')) + data = pd.read_csv(os.path.join(data_dirname, 'annotations.txt'), sep=' ', \ + names=['id', 'xmin', 'ymin', 'xmax', 'ymax', 'frame_id', 'lost', 'occluded', 'generated', 'label']) + unique_id = data['id'].unique() + num_samples = len(unique_id) + for id in unique_id: + sample = data[data['id'] == id][[ + 'xmin', 'ymin', 'xmax', 'ymax', 'occluded', 'lost' + ]].to_numpy() + visible_label = scipy_label(sample[:, -1] == 0)[0] + for vl in range(1, visible_label.max() + 1): + sample_ = sample[visible_label == vl] + traj = ((sample_[:, :2] + sample_[:, 2:4]) / 2.) + if (len(traj) > max_step): + start_idx = np.random.randint(0, len(traj) - max_step) + traj = traj[start_idx:start_idx + max_step, :] + max_size = np.max(traj.max(axis=0) - traj.min(axis=0), 0) + mean_loc = traj.min( + axis=0) + (traj.max(axis=0) - traj.min(axis=0)) / 2 + if (np.all(mean_loc - max_size / 2 - 50 > 0)): + min_loc = np.maximum(mean_loc - max_size / 2 - 50, 0) + max_loc = min_loc + max_size + 100 + else: + max_loc = np.minimum(mean_loc + max_size / 2 + 50, + ref_image.size) + min_loc = max_loc - max_size - 100 + roi = [min_loc[0], min_loc[1], max_loc[0], max_loc[1]] + all_length = np.abs(np.diff(traj, axis=0)).sum() + sg_length = np.abs(np.diff(traj[[0, -1]], axis=0)).sum() + length_ratio = sg_length / (all_length + 1e-5) + if ((sg_length > 0) & (length_ratio > min_len_ratio) & + (max_size.min() > min_max_size)): + label = label_all[data[data['id'] == id]['label'].unique()[0]] + traj_resized = ((traj - min_loc) / (max_size + 100) * W) + traj_resized[traj_resized > W - 1] = W - 1 + traj_resized[traj_resized < 0] = 0 + # densify trajectries to ensure traj_image to be created correctly + traj0 = np.interp(range(len(traj_resized) * 5), + range(0, 5 * len(traj_resized), 5), + traj_resized[:, 0]) + traj1 = np.interp(range(len(traj_resized) * 5), + range(0, 5 * len(traj_resized), 5), + traj_resized[:, 1]) + + traj_image = (np.histogram2d(traj1, traj0, range(W + 1))[0] > + 0) * 1. + start_image = np.zeros_like(traj_image) + start_image[int(traj_resized[0, 1]), + int(traj_resized[0, 0])] = 1 + goal_image = np.zeros_like(traj_image) + goal_image[int(traj_resized[-1, 1]), + int(traj_resized[-1, 0])] = 1 + image = np.array(ref_image.crop(roi).resize((W, W))) + np.savez_compressed( + '%s/%s/%s/%08d_%02d.npz' % + (save_dir, dirname_split[-2], dirname_split[-1], id, vl), + image=image, + start_image=start_image, + goal_image=goal_image, + traj_image=traj_image, + traj=traj_resized, + label=label, + length_ratio=length_ratio) diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/__init__.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/__init__.py new file mode 100644 index 00000000..647fbdfb --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/__init__.py @@ -0,0 +1,8 @@ +""" +Author: Ryo Yonetani +Affiliation: OMRON SINIC X +""" + +from .data import * +from .dijkstra import * +from .mechanism import * \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/data.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/data.py new file mode 100644 index 00000000..01760237 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/data.py @@ -0,0 +1,161 @@ +"""problem instance generation utils +Author: Mohammadamin Barekatain, Ryo Yonetani +Affiliation: OMRON SINIC X +Part of this script has been copied from https://github.com/RLAgent/gated-path-planning-networks +""" + +# -*- coding: utf-8 -*- +from __future__ import print_function + +import sys +import os +from typing import Tuple + +import numpy as np +from natsort import natsorted +from skimage.measure import label +from skimage.filters import threshold_otsu +from PIL import Image +import glob +import random +from tqdm import tqdm + +from .dijkstra import dijkstra_dist +from .mechanism import Mechanism + + +def extract_policy(maze: np.ndarray, mechanism: Mechanism, + value: np.ndarray) -> np.ndarray: + """ + Extracts the policy from the given values. + + Args: + maze (np.ndarray): maze data + mechanism (Mechanism): one of news (4 neighbors) or moore (8 neighbors) + value (np.ndarray): optimal distance map obtained using dijkstra + + Returns: + np.ndarray: policy map + """ + policy = np.zeros((mechanism.num_actions, value.shape[0], value.shape[1], + value.shape[2])) + for p_orient in range(value.shape[0]): + for p_y in range(value.shape[1]): + for p_x in range(value.shape[2]): + # Find the neighbor w/ max value (assuming deterministic + # transitions) + max_val = -sys.maxsize + max_acts = [0] + neighbors = mechanism.neighbors_func(maze, p_orient, p_y, p_x) + for i in range(len(neighbors)): + n = neighbors[i] + nval = value[n[0]][n[1]][n[2]] + if nval > max_val: + max_val = nval + max_acts = [i] + elif nval == max_val: + max_acts.append(i) + + # Choose max actions if several w/ same value + max_act = max_acts[np.random.randint(len(max_acts))] + policy[max_act][p_orient][p_y][p_x] = 1.0 + return policy + + +def load_maze_from_directory(input_path: str, split: str, + size: int) -> np.ndarray: + """ + Load a set of maze maps from a specified directory + + Args: + input_path (str): path to the directory + split (str): one of train/validation/test + size (int): map size + + Returns: + np.ndarray: a set of maze maps + """ + + assert split in ["train", "validation", "test"] + + mazes = [] + image_paths = natsorted(glob.glob(os.path.join(input_path, split, + "*.png"))) + for image_path in image_paths: + image = np.asarray( + Image.open(image_path).convert("L").resize((size, size)), + dtype=np.float32, + ) + th = threshold_otsu(image) + image_out = np.zeros_like(image) + image_out[image > th] = 1.0 + mazes.append(image_out) + + return np.array(mazes) + + +def get_goalMaps_optPolicies_optDists( + mazes: np.ndarray, + mechanism: Mechanism, + from_largest: bool = True, + edge_size: int = 0, + input_path: str = None) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """ + Get goal maps as well as optimal policies and distances from each location to the goal + + Args: + mazes (np.ndarray): maze maps + mechanism (Mechanism): one of news (4 neighbors) or moore (8 neighbors) + from_largest (bool, optional): whether to pick a goal from the largest passable region. Defaults to True. + edge_size (int, optional): the width of edge from which goals are picked. Defaults to 0. + input_path (str, optional): path to the original maze data. Defaults to None. + + Returns: + Tuple[np.ndarray, np.ndarray, np.ndarray]: goal maps, optimal policy maps, and optimal distance maps + """ + + data_size, maze_size = mazes.shape[0], mazes.shape[1] + + goal_maps = np.zeros( + (data_size, mechanism.num_orient, maze_size, maze_size)) + opt_policies = np.zeros((data_size, mechanism.num_actions, + mechanism.num_orient, maze_size, maze_size)) + opt_dists = np.zeros( + (data_size, mechanism.num_orient, maze_size, maze_size)) + + for i, maze in tqdm(enumerate(mazes)): + # select a random goal which is not an obstacle + if from_largest: + limage = label(maze, background=0, connectivity=1) + num_pixels = np.bincount(limage.flatten()) + num_pixels[0] = 0 + cond = limage == np.argmax(num_pixels) + if edge_size > 0: # supperss goal locations to be sampled from center regions + corner_image = np.ones_like(cond) * True + corner_image[edge_size:-edge_size, :] = False + corner_image[:, edge_size:-edge_size] = False + if np.any(cond & corner_image): + cond = cond & corner_image + else: + print('no regions found around any corner ({}, size: {})'. + format(input_path, maze_size)) + none_zeros = np.nonzero(cond) + else: + none_zeros = np.nonzero(maze > 0.5) + + none_zeros = [(i, j) for i, j in zip(none_zeros[0], none_zeros[1])] + goal_pos = random.choice(none_zeros) + goal_orient = np.random.randint(mechanism.num_orient) + goal_loc = (goal_orient, goal_pos[0], goal_pos[1]) + + # update the goal map + goal_maps[i, goal_loc[0], goal_loc[1], goal_loc[2]] = 1.0 + + # Use Dijkstra's to construct the optimal policy + opt_value = dijkstra_dist(maze, mechanism, goal_loc) + opt_policy = extract_policy(maze, mechanism, opt_value) + + opt_policies[i, :, :, :, :] = opt_policy + opt_dists[i, :, :, :] = opt_value + + return goal_maps, opt_policies, opt_dists diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/dijkstra.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/dijkstra.py new file mode 100644 index 00000000..eaa21570 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/dijkstra.py @@ -0,0 +1,211 @@ +"""Dijkstra search +This script has been copied from https://github.com/RLAgent/gated-path-planning-networks +""" + +import math +import numpy as np + + +class MinHeap: + def __init__(self): + self.heap = [] # binary min-heap + self.heapdict = {} # [key]->index dict + self.invheapdict = {} # [index]->key dict + self.heap_length = 0 # number of elements + + def empty(self): + return self.heap_length == 0 + + def insert(self, key, val): + # Insert the value at the bottom of heap + if self.heap_length == len(self.heap): + self.heap.append(val) + else: + self.heap[self.heap_length] = val + add_idx = self.heap_length + self.heap_length += 1 + + # Update the dictionaries + self.heapdict[key] = add_idx + self.invheapdict[add_idx] = key + + # percolate upwards + self._percolate_up(add_idx) + + def decrease(self, key, new_val): + # Find the index and value of this key + curr_idx = self.heapdict[key] + curr_val = self.heap[curr_idx] + assert new_val <= curr_val + + # Update with new lower value + self.heap[curr_idx] = new_val + + # Percolate upwards + self._percolate_up(curr_idx) + + def extract(self): + assert self.heap_length > 0 + + retval = self.heap[0] + retkey = self.invheapdict[0] + + # Swap the root with a leaf + self._swap_index(0, self.heap_length - 1) + + # Delete the last element from the dictionaries + del self.heapdict[retkey] + del self.invheapdict[self.heap_length - 1] + self.heap_length -= 1 + + # Percolate downwards + self._percolate_down(0) + return retkey, retval + + def _swap_index(self, idx1, idx2): + # get keys + key1 = self.invheapdict[idx1] + key2 = self.invheapdict[idx2] + + # Swap values in the heap + tmp1_ = self.heap[idx1] + self.heap[idx1] = self.heap[idx2] + self.heap[idx2] = tmp1_ + + # Swap indices in the [key]->index dict + tmp2_ = self.heapdict[key1] + self.heapdict[key1] = self.heapdict[key2] + self.heapdict[key2] = tmp2_ + + # Swap keys in the [index]->key dict + tmp3_ = self.invheapdict[idx1] + self.invheapdict[idx1] = self.invheapdict[idx2] + self.invheapdict[idx2] = tmp3_ + + def _percolate_up(self, curr_idx): + while curr_idx != 0: + parent_idx = int(math.floor((curr_idx - 1) / 2)) + if self.heap[parent_idx] > self.heap[curr_idx]: + self._swap_index(curr_idx, parent_idx) + curr_idx = parent_idx + else: + break + + def _percolate_down(self, curr_idx): + while curr_idx < self.heap_length: + child1 = 2 * curr_idx + 1 + child2 = child1 + 1 + if child1 >= self.heap_length: + break + minchild = child1 + maxchild = child2 + if child2 >= self.heap_length: + maxchild = None + if (maxchild is not None) and (self.heap[child1] > self.heap[child2]): + minchild = child2 + maxchild = child1 + + if self.heap[minchild] < self.heap[curr_idx]: + self._swap_index(curr_idx, minchild) + curr_idx = minchild + continue + + if (maxchild is not None) and (self.heap[maxchild] < self.heap[curr_idx]): + self._swap_index(curr_idx, maxchild) + curr_idx = maxchild + continue + break + + +def dijkstra_dist(maze, mechanism, goal): + # Initialize distance to largest possible distance + dist = ( + np.zeros((mechanism.num_orient, maze.shape[0], maze.shape[1])) + + mechanism.num_orient * maze.shape[0] * maze.shape[1] + ) + + pq = MinHeap() + pq.insert(goal, 0) + for orient in range(mechanism.num_orient): + for y in range(maze.shape[0]): + for x in range(maze.shape[1]): + if (orient == goal[0]) and (y == goal[1]) and (x == goal[2]): + continue + pq.insert( + (orient, y, x), mechanism.num_orient * maze.shape[0] * maze.shape[1] + ) + + while not pq.empty(): + # extract minimum distance position + ((p_orient, p_y, p_x), val) = pq.extract() + dist[p_orient][p_y][p_x] = val + + # Update neighbors + for n in mechanism.invneighbors_func(maze, p_orient, p_y, p_x): + if (n[1] < 0) or (n[1] >= maze.shape[0]): + continue + if (n[2] < 0) or (n[2] >= maze.shape[1]): + continue + + if maze[n[1]][n[2]] == 0.0: + continue + + curr_to_n = val + 1 + if curr_to_n < dist[n[0]][n[1]][n[2]]: + dist[n[0]][n[1]][n[2]] = curr_to_n + pq.decrease(n, curr_to_n) + return -dist # negative distance ~= value + + +def dijkstra_policy(maze, mechanism, goal, policy): + # Initialize distance to largest possible distance + dist = ( + np.zeros((mechanism.num_orient, maze.shape[0], maze.shape[1])) + + mechanism.num_orient * maze.shape[0] * maze.shape[1] + ) + + pq = MinHeap() + pq.insert(goal, 0) + for orient in range(mechanism.num_orient): + for y in range(maze.shape[0]): + for x in range(maze.shape[1]): + if (orient == goal[0]) and (y == goal[1]) and (x == goal[2]): + continue + pq.insert( + (orient, y, x), mechanism.num_orient * maze.shape[0] * maze.shape[1] + ) + + while not pq.empty(): + # extract minimum distance position + ((p_orient, p_y, p_x), val) = pq.extract() + dist[p_orient][p_y][p_x] = val + + # Update neighboring predecessors + predecessors = mechanism.invneighbors_func(maze, p_orient, p_y, p_x) + for i in range(len(predecessors)): + n = predecessors[i] + if (n[1] < 0) or (n[1] >= maze.shape[0]): + continue + if (n[2] < 0) or (n[2] >= maze.shape[1]): + continue + + if maze[n[1]][n[2]] == 0.0: + continue + + # What are the successor from this predecessor state? + succ_pred = mechanism.neighbors_func(maze, n[0], n[1], n[2]) + + # Does following the policy on the predecessor state transition to + # the current state? + succ_pred_pol = succ_pred[policy[n[0]][n[1]][n[2]]] + if ( + (succ_pred_pol[0] == p_orient) + and (succ_pred_pol[1] == p_y) + and (succ_pred_pol[2] == p_x) + ): + # Update value + curr_to_n = val + 1 + if curr_to_n < dist[n[0]][n[1]][n[2]]: + dist[n[0]][n[1]][n[2]] = curr_to_n + pq.decrease(n, curr_to_n) + return -dist # negative distance ~= value diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/mechanism.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/mechanism.py new file mode 100644 index 00000000..7c5a0f4c --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/planning_datasets_utils/mechanism.py @@ -0,0 +1,277 @@ +"""Kernel mechanisms implementations. +Most of this script has been copied from https://github.com/RLAgent/gated-path-planning-networks +""" + +from __future__ import print_function + +import abc + +import numpy as np +import torch + + +def _get_expanded_locs(goal_maps): + num_samples, size = goal_maps.shape[0], goal_maps.shape[-1] + grid = torch.meshgrid(torch.arange(0, size), torch.arange(0, size)) + loc = torch.stack(grid, dim=0).type_as(goal_maps) + loc_expand = loc.reshape(2, -1).unsqueeze(0).expand(num_samples, 2, -1) + goal_loc = torch.einsum("kij, bij -> bk", loc, goal_maps) + goal_loc_expand = goal_loc.unsqueeze(-1).expand(num_samples, 2, -1) + + return loc_expand, goal_loc_expand + + +class Mechanism(abc.ABC): + """Base class for maze transition mechanisms.""" + def __init__(self, num_actions, num_orient, action_to_move=None): + self.num_actions = num_actions + self.num_orient = num_orient + self.action_to_move = action_to_move + + def next_loc(self, current_loc, one_hot_action): + move = self.action_to_move[np.argmax(one_hot_action)] + return tuple(np.add(current_loc, move)) + + @abc.abstractmethod + def neighbors_func(self, maze, p_orient, p_y, p_x): + """Computes next states for each action.""" + + @abc.abstractmethod + def invneighbors_func(self, maze, p_orient, p_y, p_x): + """Computes previous states for each action.""" + + @abc.abstractmethod + def print_policy(self, maze, goal, policy): + """Prints the given policy.""" + + @abc.abstractstaticmethod + def get_heuristic(goal_maps): + """Compute heuristic function given current mechanism""" + + +class NorthEastWestSouth(Mechanism): + """ + In NEWS, the agent can move North, East, West, or South. + """ + def __init__(self): + action_to_move = [(0, -1, 0), (0, 0, +1), (0, 0, -1), (0, +1, 0)] + super().__init__(num_actions=4, + num_orient=1, + action_to_move=action_to_move) + + def _north(self, maze, p_orient, p_y, p_x): + if (p_y > 0) and (maze[p_y - 1][p_x] != 0.0): + return p_orient, p_y - 1, p_x + return p_orient, p_y, p_x + + def _east(self, maze, p_orient, p_y, p_x): + if (p_x < (maze.shape[1] - 1)) and (maze[p_y][p_x + 1] != 0.0): + return p_orient, p_y, p_x + 1 + return p_orient, p_y, p_x + + def _west(self, maze, p_orient, p_y, p_x): + if (p_x > 0) and (maze[p_y][p_x - 1] != 0.0): + return p_orient, p_y, p_x - 1 + return p_orient, p_y, p_x + + def _south(self, maze, p_orient, p_y, p_x): + if (p_y < (maze.shape[0] - 1)) and (maze[p_y + 1][p_x] != 0.0): + return p_orient, p_y + 1, p_x + return p_orient, p_y, p_x + + def neighbors_func(self, maze, p_orient, p_y, p_x): + return [ + self._north(maze, p_orient, p_y, p_x), + self._east(maze, p_orient, p_y, p_x), + self._west(maze, p_orient, p_y, p_x), + self._south(maze, p_orient, p_y, p_x), + ] + + def invneighbors_func(self, maze, p_orient, p_y, p_x): + return [ + self._south(maze, p_orient, p_y, p_x), + self._west(maze, p_orient, p_y, p_x), + self._east(maze, p_orient, p_y, p_x), + self._north(maze, p_orient, p_y, p_x), + ] + + def print_policy(self, maze, goal, policy): + action2str = ["↑", "→", "←", "↓"] + for o in range(self.num_orient): + for y in range(policy.shape[1]): + for x in range(policy.shape[2]): + if (o, y, x) == goal: + print("!", end="") + elif maze[y][x] == 0.0: + print(u"\u2588", end="") + else: + a = policy[o][y][x] + print(action2str[a], end="") + print("") + print("") + + @staticmethod + def get_neighbor_filter(): + neighbor_filter = torch.zeros(1, 1, 3, 3) + neighbor_filter[0, 0, 0, 1] = 1 + neighbor_filter[0, 0, 1, 0] = 1 + neighbor_filter[0, 0, 1, 2] = 1 + neighbor_filter[0, 0, 2, 1] = 1 + + return neighbor_filter + + @staticmethod + def get_heuristic(goal_maps, tb_factor=0.001): + loc_expand, goal_loc_expand = _get_expanded_locs(goal_maps) + # manhattan distance + h = torch.abs(loc_expand - goal_loc_expand).sum(dim=1) + euc = torch.sqrt(((loc_expand - goal_loc_expand)**2).sum(1)) + h = (h + tb_factor * euc).reshape_as(goal_maps) + + return h + + +class Moore(Mechanism): + """ + In Moore, the agent can move to any of the eight cells in its Moore + neighborhood. + """ + + _ACTION_TO_MOVE = [ + (0, -1, 0), + (0, 0, +1), + (0, 0, -1), + (0, +1, 0), + (0, -1, +1), + (0, -1, -1), + (0, +1, +1), + (0, +1, -1), + ] + + def __init__(self): + action_to_move = [ + (0, -1, 0), + (0, 0, +1), + (0, 0, -1), + (0, +1, 0), + (0, -1, +1), + (0, -1, -1), + (0, +1, +1), + (0, +1, -1), + ] + super().__init__(num_actions=8, + num_orient=1, + action_to_move=action_to_move) + + def _north(self, maze, p_orient, p_y, p_x): + if (p_y > 0) and (maze[p_y - 1][p_x] != 0.0): + return p_orient, p_y - 1, p_x + return p_orient, p_y, p_x + + def _east(self, maze, p_orient, p_y, p_x): + if (p_x < (maze.shape[1] - 1)) and (maze[p_y][p_x + 1] != 0.0): + return p_orient, p_y, p_x + 1 + return p_orient, p_y, p_x + + def _west(self, maze, p_orient, p_y, p_x): + if (p_x > 0) and (maze[p_y][p_x - 1] != 0.0): + return p_orient, p_y, p_x - 1 + return p_orient, p_y, p_x + + def _south(self, maze, p_orient, p_y, p_x): + if (p_y < (maze.shape[0] - 1)) and (maze[p_y + 1][p_x] != 0.0): + return p_orient, p_y + 1, p_x + return p_orient, p_y, p_x + + def _northeast(self, maze, p_orient, p_y, p_x): + if ((p_y > 0) and (p_x < (maze.shape[1] - 1)) + and (maze[p_y - 1][p_x + 1] != 0.0)): + return p_orient, p_y - 1, p_x + 1 + return p_orient, p_y, p_x + + def _northwest(self, maze, p_orient, p_y, p_x): + if (p_y > 0) and (p_x > 0) and (maze[p_y - 1][p_x - 1] != 0.0): + return p_orient, p_y - 1, p_x - 1 + return p_orient, p_y, p_x + + def _southeast(self, maze, p_orient, p_y, p_x): + if ((p_y < (maze.shape[0] - 1)) and (p_x < (maze.shape[1] - 1)) + and (maze[p_y + 1][p_x + 1] != 0.0)): + return p_orient, p_y + 1, p_x + 1 + return p_orient, p_y, p_x + + def _southwest(self, maze, p_orient, p_y, p_x): + if ((p_y < (maze.shape[0] - 1)) and (p_x > 0) + and (maze[p_y + 1][p_x - 1] != 0.0)): + return p_orient, p_y + 1, p_x - 1 + return p_orient, p_y, p_x + + def neighbors_func(self, maze, p_orient, p_y, p_x): + return [ + self._north(maze, p_orient, p_y, p_x), + self._east(maze, p_orient, p_y, p_x), + self._west(maze, p_orient, p_y, p_x), + self._south(maze, p_orient, p_y, p_x), + self._northeast(maze, p_orient, p_y, p_x), + self._northwest(maze, p_orient, p_y, p_x), + self._southeast(maze, p_orient, p_y, p_x), + self._southwest(maze, p_orient, p_y, p_x), + ] + + def invneighbors_func(self, maze, p_orient, p_y, p_x): + return [ + self._south(maze, p_orient, p_y, p_x), + self._west(maze, p_orient, p_y, p_x), + self._east(maze, p_orient, p_y, p_x), + self._north(maze, p_orient, p_y, p_x), + self._southwest(maze, p_orient, p_y, p_x), + self._southeast(maze, p_orient, p_y, p_x), + self._northwest(maze, p_orient, p_y, p_x), + self._northeast(maze, p_orient, p_y, p_x), + ] + + def print_policy(self, maze, goal, policy): + action2str = ["↑", "→", "←", "↓", "↗", "↖", "↘", "↙"] + for o in range(self.num_orient): + for y in range(policy.shape[1]): + for x in range(policy.shape[2]): + if (o, y, x) == goal: + print("!", end="") + elif maze[y][x] == 0.0: + print(u"\u2588", end="") + else: + a = policy[o][y][x] + print(action2str[a], end="") + print("") + print("") + + @staticmethod + def get_neighbor_filter(): + neighbor_filter = torch.ones(1, 1, 3, 3) + neighbor_filter[0, 0, 1, 1] = 0 + + return neighbor_filter + + @staticmethod + def get_heuristic(goal_maps, tb_factor=0.001): + loc_expand, goal_loc_expand = _get_expanded_locs(goal_maps) + # chebyshev distance + dxdy = torch.abs(loc_expand - goal_loc_expand) + h = dxdy.sum(dim=1) - dxdy.min(dim=1)[0] + euc = torch.sqrt(((loc_expand - goal_loc_expand)**2).sum(1)) + h = (h + tb_factor * euc).reshape_as(goal_maps) + + return h + + +def get_mechanism(mechanism, verbose=False): + if ("news" in mechanism): + if verbose: + print("Using NEWS Drive") + return NorthEastWestSouth() + elif ("moore" in mechanism): + if verbose: + print("Using Moore Drive") + return Moore() + else: + raise ValueError("Unsupported mechanism: %s" % mechanism) diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/preprocess_street_dataset.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/preprocess_street_dataset.py new file mode 100644 index 00000000..3e80a6e4 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/preprocess_street_dataset.py @@ -0,0 +1,52 @@ +"""preprocessing script for CSM dataset +Author: Ryo Yonetani +Affiliation: OMRON SINIC X +""" + +import os +import re + +from glob import glob +import numpy as np +from PIL import Image + + +def crop_images(inputdir: str = "data/street/original/all", + outputdir: str = "data/street/original/mixed", + W: int = 128, + Ns: list = [160, 20, 40]) -> None: + train_filenames = glob("%s/*[0,1]_256.png" % inputdir) + test_filenames = glob("%s/*2_256.png" % inputdir) + for filename in train_filenames: + fileid = re.split("_256.png", re.split("/", filename)[-1])[0] + img = Image.open(filename).convert("L").resize((256, 256)) + lt = np.random.randint(0, 256 - W, [Ns[0], 2]) + boxes = np.hstack((lt, lt + W)) + for n, box in enumerate(boxes): + cropped = img.crop(box) + cropped.save( + os.path.join(outputdir, 'train', "%s_%05d.png" % (fileid, n))) + for filename in train_filenames: + fileid = re.split("_256.png", re.split("/", filename)[-1])[0] + img = Image.open(filename).convert("L").resize((256, 256)) + lt = np.random.randint(0, 256 - W, [Ns[1], 2]) + boxes = np.hstack((lt, lt + W)) + for n, box in enumerate(boxes): + cropped = img.crop(box) + cropped.save( + os.path.join(outputdir, 'validation', + "%s_%05d.png" % (fileid, n))) + for filename in test_filenames: + fileid = re.split("_256.png", re.split("/", filename)[-1])[0] + img = Image.open(filename).convert("L").resize((256, 256)) + lt = np.random.randint(0, 256 - W, [Ns[2], 2]) + boxes = np.hstack((lt, lt + W)) + for n, box in enumerate(boxes): + cropped = img.crop(box) + cropped.save( + os.path.join(outputdir, 'test', "%s_%05d.png" % (fileid, n))) + + +if __name__ == "__main__": + np.random.seed(1372) + crop_images() diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/setup.py b/nyxNOVA-master/nyxNOVA-be/planning-datasets/setup.py new file mode 100644 index 00000000..ac1d7188 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/setup.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python +""" +Author: Ryo Yonetani +Affiliation: OMRON SINIC X +""" + +from setuptools import setup, find_packages + +setup(name="planning_datasets_utils", + version="0.1.0", + description="Path Planning using Neural A* Search", + author="Ryo Yonetani", + author_email="ryo.yonetani@sinicx.com", + url="https://github.com/omron-sinicx/planning-datasets", + install_requires=[ + "torch>=1.5.0", # use 1.5.0 for full reproduciblity + "numpy>=1.22", # to address a security vulnerability in numpy<= 1.21.6. Full reproducibility requires numpy==1.18.4 + "tqdm==4.42.1", + "natsort==7.0.1", + "ipython>=7.16.3", + "scikit-image>=0.17.2", # use 0.17.2 for full reproducibility + "pandas>=1.0.3", + ], + packages=find_packages()) diff --git a/nyxNOVA-master/nyxNOVA-be/planning-datasets/visualize.ipynb b/nyxNOVA-master/nyxNOVA-be/planning-datasets/visualize.ipynb new file mode 100644 index 00000000..d4740629 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/planning-datasets/visualize.ipynb @@ -0,0 +1,151 @@ +{ + "metadata": { + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.6.9" + }, + "orig_nbformat": 4, + "kernelspec": { + "name": "python3", + "display_name": "Python 3.7.9 64-bit" + }, + "interpreter": { + "hash": "31f2aee4e71d21fbe5cf8b01ff0e069b9275f58929596ceb00d14d90e3e16cd6" + } + }, + "nbformat": 4, + "nbformat_minor": 2, + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "\n", + "def show(data, vmin=-50):\n", + " plt.subplot(1, 3, 1)\n", + " plt.imshow(data['arr_0'][0])\n", + " plt.title(\"input map\")\n", + " plt.subplot(1, 3, 2)\n", + " plt.imshow(data['arr_1'][0][0])\n", + " plt.title(\"goal\")\n", + " plt.subplot(1, 3, 3)\n", + " plt.imshow(data['arr_3'][0][0], vmin=vmin)\n", + " plt.title(\"dist to goal\")" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "output_type": "display_data", + "data": { + "text/plain": "
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\n" + }, + "metadata": { + "needs_background": "light" + } + } + ], + "source": [ + "data = np.load(\"data/mpd/all_064_moore_c16.npz\")\n", + "show(data, vmin=-200)" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "output_type": "display_data", + "data": { + "text/plain": "
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\n" + }, + "metadata": { + "needs_background": "light" + } + } + ], + "source": [ + "data = np.load(\"data/street/mixed_064_moore_c16.npz\")\n", + "show(data, vmin=-200)" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "output_type": "execute_result", + "data": { + "text/plain": [ + "" + ] + }, + "metadata": {}, + "execution_count": 5 + }, + { + "output_type": "display_data", + "data": { + "text/plain": "
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\n" + }, + "metadata": { + "needs_background": "light" + } + } + ], + "source": [ + "data = np.load(\"data/sdd/s064_0.5_128_300/bookstore/video0/00000000_01.npz\")\n", + "plt.subplot(1, 2, 1)\n", + "plt.imshow(data[\"image\"])\n", + "plt.subplot(1, 2, 2)\n", + "plt.imshow(data[\"image\"])\n", + "plt.imshow(data[\"traj_image\"], alpha=.5)" + ] + } + ] +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict/image0.jpg b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict/image0.jpg new file mode 100644 index 00000000..237fc4f3 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict/image0.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict/labels/image0.txt b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict/labels/image0.txt new file mode 100644 index 00000000..94f2522a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict/labels/image0.txt @@ -0,0 +1,6 @@ +1 0.0822638 0.512815 0.107341 0.113727 0.765701 +1 0.818979 0.236547 0.158044 0.164581 0.689633 +1 0.582255 0.90849 0.0680815 0.0657171 0.638876 +1 0.444312 0.713778 0.0729103 0.0831155 0.537529 +1 0.756519 0.381852 0.112404 0.101531 0.527476 +1 0.296651 0.38386 0.0779491 0.0763056 0.51849 diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict10/image0.jpg b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict10/image0.jpg new file mode 100644 index 00000000..01575ffd Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict10/image0.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict10/labels/image0.txt b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict10/labels/image0.txt new file mode 100644 index 00000000..c25c9523 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict10/labels/image0.txt @@ -0,0 +1,8 @@ +1 0.594635 0.316019 0.106657 0.11897 0.851604 +1 0.892371 0.903055 0.181409 0.154814 0.7813 +1 0.768897 0.533333 0.0975365 0.0819319 0.652977 +1 0.861157 0.0694705 0.195264 0.138941 0.636378 +1 0.885048 0.490872 0.0749711 0.0855818 0.555337 +1 0.657036 0.0427474 0.052937 0.0663801 0.548443 +1 0.940774 0.194845 0.118452 0.111028 0.546846 +1 0.109556 0.83882 0.0765667 0.0811439 0.530943 diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict11/image0.jpg b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict11/image0.jpg new file mode 100644 index 00000000..01575ffd Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict11/image0.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict11/labels/image0.txt b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict11/labels/image0.txt new file mode 100644 index 00000000..c25c9523 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict11/labels/image0.txt @@ -0,0 +1,8 @@ +1 0.594635 0.316019 0.106657 0.11897 0.851604 +1 0.892371 0.903055 0.181409 0.154814 0.7813 +1 0.768897 0.533333 0.0975365 0.0819319 0.652977 +1 0.861157 0.0694705 0.195264 0.138941 0.636378 +1 0.885048 0.490872 0.0749711 0.0855818 0.555337 +1 0.657036 0.0427474 0.052937 0.0663801 0.548443 +1 0.940774 0.194845 0.118452 0.111028 0.546846 +1 0.109556 0.83882 0.0765667 0.0811439 0.530943 diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict12/image0.jpg b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict12/image0.jpg new file mode 100644 index 00000000..fa30777f Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict12/image0.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict12/labels/image0.txt b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict12/labels/image0.txt new file mode 100644 index 00000000..1d86c134 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict12/labels/image0.txt @@ -0,0 +1,4 @@ +1 0.244963 0.815784 0.100232 0.081655 0.613183 +1 0.956466 0.767921 0.0732393 0.0743485 0.580045 +1 0.806185 0.167254 0.0720327 0.0671664 0.571333 +1 0.919196 0.0733369 0.0986252 0.0833757 0.521952 diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict13/image0.jpg 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0.0986252 0.0833757 0.521952 diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict9/image0.jpg b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict9/image0.jpg new file mode 100644 index 00000000..237fc4f3 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict9/image0.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-be/runs/detect/predict9/labels/image0.txt b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict9/labels/image0.txt new file mode 100644 index 00000000..94f2522a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/runs/detect/predict9/labels/image0.txt @@ -0,0 +1,6 @@ +1 0.0822638 0.512815 0.107341 0.113727 0.765701 +1 0.818979 0.236547 0.158044 0.164581 0.689633 +1 0.582255 0.90849 0.0680815 0.0657171 0.638876 +1 0.444312 0.713778 0.0729103 0.0831155 0.537529 +1 0.756519 0.381852 0.112404 0.101531 0.527476 +1 0.296651 0.38386 0.0779491 0.0763056 0.51849 diff --git a/nyxNOVA-master/nyxNOVA-be/scratchpad.py b/nyxNOVA-master/nyxNOVA-be/scratchpad.py new file mode 100644 index 00000000..2d395088 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-be/scratchpad.py @@ -0,0 +1,69 @@ +import matplotlib.pyplot as plt +import torch +from ultralytics import YOLO +import glob +import random +import torchvision.transforms.functional as F +import numpy as np +from neural_astar.planner import NeuralAstar +from neural_astar.utils.training import load_from_ptl_checkpoint + +device = "cpu" +model = YOLO('yolov10l.yaml') +model = YOLO("best.pt") + +paths = glob.glob('trail\\WhatsApp\\*.jpeg') +ind = random.randint(a=0, b=len(paths) - 1) +img_path = paths[ind] + +# img_path = "mars.jpg" +img = plt.imread(img_path) +img = F.resize(torch.tensor(img).permute(2,0,1),(640,640)).permute(1,2,0).numpy() +img = np.ascontiguousarray(img) + +results = model.predict(img, save=True, imgsz=640, conf=0.1, iou=0.5, save_txt=True, save_conf=True, save_dir='D:\\isro_hack\\predictions') +results[0].show() +binary_map = [[1 for _ in range(img.shape[1])] for _ in range(img.shape[0])] + +for result in results: + boxes = result.boxes.xyxy + for box in boxes: + x1, y1, x2, y2 = map(int, box) + for i in range(y1, y2): + for j in range(x1, x2): + binary_map[i][j] = 0 + +dilated_map = F.resize(torch.tensor(binary_map,dtype=torch.uint8).unsqueeze(0).unsqueeze(0), size=(32, 32)).squeeze(0) + +def is_valid_point(point, dilated_map): + return dilated_map[0, point[0], point[1]] == 1 + +while True: + start_point = (random.randint(0, 31), random.randint(0, 31)) + if is_valid_point(start_point, dilated_map): + break + +while True: + goal_point = (random.randint(0, 31), random.randint(0, 31)) + if is_valid_point(goal_point, dilated_map) and goal_point != start_point: + break + +start_map = torch.zeros((1, 1, 32, 32), dtype=torch.float32) +start_map[0, 0, start_point[0], start_point[1]] = 1 + +goal_map = torch.zeros((1, 1, 32, 32), dtype=torch.float32) +goal_map[0, 0, goal_point[0], goal_point[1]] = 1 + +neural_astar = NeuralAstar(encoder_arch='CNN').to(device) +neural_astar.load_state_dict(load_from_ptl_checkpoint("C:\\Hackathons\\ISRO-NASA\\nyxNOVA\\nyxNOVA-be\\model")) + +neural_astar.eval() +na_outputs = neural_astar(torch.tensor(dilated_map).unsqueeze(0).to(device), start_map.to(device), goal_map.to(device), store_intermediate_results=True) +na_outputs[-1][-1]['paths'][0] = (1 - na_outputs[-1][-1]['paths'][0]) + +path = F.resize(na_outputs[-1][-1]['paths'][0],(640,640)) + + +plt.imshow(path.permute(1,2,0).cpu().detach().numpy(),cmap='gray') +plt.imshow(img,alpha=0.5) +plt.show() \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp Unknown 2024-09-09 at 10.47.22 PM.zip b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp Unknown 2024-09-09 at 10.47.22 PM.zip new file mode 100644 index 00000000..3bd00429 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp Unknown 2024-09-09 at 10.47.22 PM.zip differ diff --git a/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp.zip b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp.zip new file mode 100644 index 00000000..924d99fe Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp.zip differ diff --git a/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (2).jpeg b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (2).jpeg new file mode 100644 index 00000000..d63a84bf Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (2).jpeg differ diff --git a/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (3).jpeg b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (3).jpeg new file mode 100644 index 00000000..74caea34 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (3).jpeg differ diff --git a/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (4).jpeg b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (4).jpeg new file mode 100644 index 00000000..d3686a73 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM (4).jpeg differ diff --git a/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM.jpeg b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM.jpeg new file mode 100644 index 00000000..4e213ce9 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-be/trail/WhatsApp/WhatsApp Image 2024-09-09 at 3.52.11 PM.jpeg differ diff --git a/nyxNOVA-master/nyxNOVA-fe/Exoplanet/Atmos_tut/node_modules/.yarn-integrity b/nyxNOVA-master/nyxNOVA-fe/Exoplanet/Atmos_tut/node_modules/.yarn-integrity new file mode 100644 index 00000000..94cbf038 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/Exoplanet/Atmos_tut/node_modules/.yarn-integrity @@ -0,0 +1,10 @@ +{ + "systemParams": "win32-x64-115", + "modulesFolders": [], + "flags": [], + "linkedModules": [], + "topLevelPatterns": [], + "lockfileEntries": {}, + "files": [], + "artifacts": {} +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/Exoplanet/Atmos_tut/yarn.lock b/nyxNOVA-master/nyxNOVA-fe/Exoplanet/Atmos_tut/yarn.lock new file mode 100644 index 00000000..fb57ccd1 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/Exoplanet/Atmos_tut/yarn.lock @@ -0,0 +1,4 @@ +# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY. +# yarn lockfile v1 + + diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/.eslintrc.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/.eslintrc.json new file mode 100644 index 00000000..bffb357a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/.eslintrc.json @@ -0,0 +1,3 @@ +{ + "extends": "next/core-web-vitals" +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/.gitignore b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/.gitignore new file mode 100644 index 00000000..fd3dbb57 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/.gitignore @@ -0,0 +1,36 @@ +# See https://help.github.com/articles/ignoring-files/ for more about ignoring files. + +# dependencies +/node_modules +/.pnp +.pnp.js +.yarn/install-state.gz + +# testing +/coverage + +# next.js +/.next/ +/out/ + +# production +/build + +# misc +.DS_Store +*.pem + +# debug +npm-debug.log* +yarn-debug.log* +yarn-error.log* + +# local env files +.env*.local + +# vercel +.vercel + +# typescript +*.tsbuildinfo +next-env.d.ts diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/README.md b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/README.md new file mode 100644 index 00000000..ca9bb5bc --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/README.md @@ -0,0 +1,23 @@ +This is a [Next.js](https://nextjs.org/) project bootstrapped with [`create-next-app`](https://github.com/vercel/next.js/tree/canary/packages/create-next-app). + +## Getting Started + +First, run the development server: + +```bash +npm run dev +# or +yarn dev +# or +pnpm dev +# or +bun dev +``` + +Open [http://localhost:3000](http://localhost:3000) with your browser to see the result. + + +## you can also visit my project [here](https://guard-iq-ai.vercel.app) + + + diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/home/index.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/home/index.json new file mode 100644 index 00000000..e833609f --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/home/index.json @@ -0,0 +1,59 @@ +{ + "format": "page", + "id": "home", + "label": "home", + "repeatable": false, + "status": true, + "json": { + "Main": { + "title": { + "type": "Text", + "config": { + "label": "Title", + "placeholder": "" + } + }, + "slices": { + "type": "Slices", + "fieldset": "Slice Zone", + "config": { + "choices": { + "herocard": { + "type": "SharedSlice" + }, + "hero": { + "type": "SharedSlice" + } + } + } + } + }, + "SEO & Metadata": { + "meta_title": { + "config": { + "label": "Meta Title", + "placeholder": "A title of the page used for social media and search engines" + }, + "type": "Text" + }, + "meta_description": { + "config": { + "label": "Meta Description", + "placeholder": "A brief summary of the page" + }, + "type": "Text" + }, + "meta_image": { + "config": { + "constraint": { + "height": 1260, + "width": 2400 + }, + "label": "Meta Image", + "thumbnails": [] + }, + "type": "Image" + } + } + } +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/page/index.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/page/index.json new file mode 100644 index 00000000..b1ebbbf7 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/page/index.json @@ -0,0 +1,59 @@ +{ + "format": "page", + "id": "page", + "label": "Page", + "repeatable": true, + "status": true, + "json": { + "Main": { + "uid": { + "config": { + "label": "UID", + "placeholder": "" + }, + "type": "UID" + }, + "slices": { + "type": "Slices", + "fieldset": "Slice Zone", + "config": { + "choices": { + "landing_site": { + "type": "SharedSlice" + }, + "upload": { + "type": "SharedSlice" + }, + "sign_up": { + "type": "SharedSlice" + } + } + } + } + }, + "SEO & Metadata": { + "meta_title": { + "type": "Text", + "config": { + "label": "Meta Title", + "placeholder": "" + } + }, + "meta_description": { + "type": "Text", + "config": { + "label": "Meta Description", + "placeholder": "" + } + }, + "meta_image": { + "type": "Image", + "config": { + "label": "Meta Image", + "constraint": {}, + "thumbnails": [] + } + } + } + } +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/settings/index.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/settings/index.json new file mode 100644 index 00000000..39c84e73 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/customtypes/settings/index.json @@ -0,0 +1,81 @@ +{ + "format": "custom", + "id": "settings", + "label": "settings", + "repeatable": false, + "status": true, + "json": { + "Main": { + "site_title": { + "type": "Text", + "config": { + "label": "site title", + "placeholder": "" + } + }, + "meta_description": { + "type": "Text", + "config": { + "label": "meta description ", + "placeholder": "" + } + }, + "image": { + "type": "Image", + "config": { + "label": "image", + "constraint": {}, + "thumbnails": [] + } + }, + "navigation": { + "type": "Group", + "config": { + "label": "navigation ", + "repeat": true, + "fields": { + "link": { + "type": "Link", + "config": { + "label": "link", + "placeholder": "", + "select": null + } + }, + "label": { + "type": "Text", + "config": { + "label": "label", + "placeholder": "" + } + } + } + } + }, + "contact": { + "type": "Group", + "config": { + "label": "contact", + "repeat": true, + "fields": { + "link": { + "type": "Link", + "config": { + "label": "link", + "placeholder": "", + "select": null + } + }, + "contact": { + "type": "Text", + "config": { + "label": "contact", + "placeholder": "" + } + } + } + } + } + } + } +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/next.config.mjs b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/next.config.mjs new file mode 100644 index 00000000..4678774e --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/next.config.mjs @@ -0,0 +1,4 @@ +/** @type {import('next').NextConfig} */ +const nextConfig = {}; + +export default nextConfig; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/package-lock.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/package-lock.json new file mode 100644 index 00000000..fccfa8a1 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/package-lock.json @@ -0,0 +1,9309 @@ +{ + "name": "nyxNOVA", + "version": "0.1.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "nyxNOVA", + "version": "0.1.0", + "dependencies": { + "@emotion/react": "^11.13.3", + "@emotion/styled": "^11.13.0", + "@prismicio/client": "^7.11.0", + "@prismicio/next": "^1.7.0", + "@prismicio/react": "^2.9.0", + "babel-plugin-macros": "^3.1.0", + "clsx": "^2.1.1", + "firebase": "^10.13.2", + "framer-motion": "^11.11.0", + "lucide-react": "^0.439.0", + "next": "^14.2.5", + "react": "^18.3.1", + "react-dom": "^18.3.1", + "react-icons": "^5.2.1", + "sharp": "^0.33.4", + "twin.macro": "^3.4.1" + }, + "devDependencies": { + "@slicemachine/adapter-next": "^0.3.49", + "@types/node": "^20", + "@types/react": "^18", + "@types/react-dom": "^18", + "eslint": "^8", + 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"start-slicemachine" + }, + "dependencies": { + "@emotion/react": "^11.13.3", + "@emotion/styled": "^11.13.0", + "@prismicio/client": "^7.11.0", + "@prismicio/next": "^1.7.0", + "@prismicio/react": "^2.9.0", + "babel-plugin-macros": "^3.1.0", + "clsx": "^2.1.1", + "firebase": "^10.13.2", + "framer-motion": "^11.11.0", + "lucide-react": "^0.439.0", + "next": "^14.2.5", + "react": "^18.3.1", + "react-dom": "^18.3.1", + "react-icons": "^5.2.1", + "sharp": "^0.33.4", + "twin.macro": "^3.4.1" + }, + "devDependencies": { + "@slicemachine/adapter-next": "^0.3.49", + "@types/node": "^20", + "@types/react": "^18", + "@types/react-dom": "^18", + "eslint": "^8", + "eslint-config-next": "14.2.5", + "postcss": "^8", + "slice-machine-ui": "^2.7.1", + "tailwindcss": "^3.4.1", + "typescript": "^5" + } +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/postcss.config.mjs b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/postcss.config.mjs new file mode 100644 index 00000000..1a69fd2a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/postcss.config.mjs @@ -0,0 +1,8 @@ +/** @type {import('postcss-load-config').Config} */ +const config = { + plugins: { + tailwindcss: {}, + }, +}; + +export default config; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/prismicio-types.d.ts b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/prismicio-types.d.ts new file mode 100644 index 00000000..9901e2dc --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/prismicio-types.d.ts @@ -0,0 +1,667 @@ +// Code generated by Slice Machine. DO NOT EDIT. + +import type * as prismic from "@prismicio/client"; + +type Simplify = { [KeyType in keyof T]: T[KeyType] }; + +type HomeDocumentDataSlicesSlice = HerocardSlice | HeroSlice; + +/** + * Content for home documents + */ +interface HomeDocumentData { + /** + * Title field in *home* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: home.title + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + title: prismic.KeyTextField; + + /** + * Slice Zone field in *home* + * + * - **Field Type**: Slice Zone + * - **Placeholder**: *None* + * - **API ID Path**: home.slices[] + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#slices + */ + slices: prismic.SliceZone /** + * Meta Title field in *home* + * + * - **Field Type**: Text + * - **Placeholder**: A title of the page used for social media and search engines + * - **API ID Path**: home.meta_title + * - **Tab**: SEO & Metadata + * - **Documentation**: https://prismic.io/docs/field#key-text + */; + meta_title: prismic.KeyTextField; + + /** + * Meta Description field in *home* + * + * - **Field Type**: Text + * - **Placeholder**: A brief summary of the page + * - **API ID Path**: home.meta_description + * - **Tab**: SEO & Metadata + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + meta_description: prismic.KeyTextField; + + /** + * Meta Image field in *home* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: home.meta_image + * - **Tab**: SEO & Metadata + * - **Documentation**: https://prismic.io/docs/field#image + */ + meta_image: prismic.ImageField; +} + +/** + * home document from Prismic + * + * - **API ID**: `home` + * - **Repeatable**: `false` + * - **Documentation**: https://prismic.io/docs/custom-types + * + * @typeParam Lang - Language API ID of the document. + */ +export type HomeDocument = + prismic.PrismicDocumentWithoutUID, "home", Lang>; + +type PageDocumentDataSlicesSlice = LandingSiteSlice | UploadSlice | SignUpSlice; + +/** + * Content for Page documents + */ +interface PageDocumentData { + /** + * Slice Zone field in *Page* + * + * - **Field Type**: Slice Zone + * - **Placeholder**: *None* + * - **API ID Path**: page.slices[] + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#slices + */ + slices: prismic.SliceZone /** + * Meta Title field in *Page* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: page.meta_title + * - **Tab**: SEO & Metadata + * - **Documentation**: https://prismic.io/docs/field#key-text + */; + meta_title: prismic.KeyTextField; + + /** + * Meta Description field in *Page* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: page.meta_description + * - **Tab**: SEO & Metadata + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + meta_description: prismic.KeyTextField; + + /** + * Meta Image field in *Page* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: page.meta_image + * - **Tab**: SEO & Metadata + * - **Documentation**: https://prismic.io/docs/field#image + */ + meta_image: prismic.ImageField; +} + +/** + * Page document from Prismic + * + * - **API ID**: `page` + * - **Repeatable**: `true` + * - **Documentation**: https://prismic.io/docs/custom-types + * + * @typeParam Lang - Language API ID of the document. + */ +export type PageDocument = + prismic.PrismicDocumentWithUID, "page", Lang>; + +/** + * Item in *settings → navigation * + */ +export interface SettingsDocumentDataNavigationItem { + /** + * link field in *settings → navigation * + * + * - **Field Type**: Link + * - **Placeholder**: *None* + * - **API ID Path**: settings.navigation[].link + * - **Documentation**: https://prismic.io/docs/field#link-content-relationship + */ + link: prismic.LinkField; + + /** + * label field in *settings → navigation * + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: settings.navigation[].label + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + label: prismic.KeyTextField; +} + +/** + * Item in *settings → contact* + */ +export interface SettingsDocumentDataContactItem { + /** + * link field in *settings → contact* + * + * - **Field Type**: Link + * - **Placeholder**: *None* + * - **API ID Path**: settings.contact[].link + * - **Documentation**: https://prismic.io/docs/field#link-content-relationship + */ + link: prismic.LinkField; + + /** + * contact field in *settings → contact* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: settings.contact[].contact + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + contact: prismic.KeyTextField; +} + +/** + * Content for settings documents + */ +interface SettingsDocumentData { + /** + * site title field in *settings* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: settings.site_title + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + site_title: prismic.KeyTextField; + + /** + * meta description field in *settings* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: settings.meta_description + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + meta_description: prismic.KeyTextField; + + /** + * image field in *settings* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: settings.image + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#image + */ + image: prismic.ImageField; + + /** + * navigation field in *settings* + * + * - **Field Type**: Group + * - **Placeholder**: *None* + * - **API ID Path**: settings.navigation[] + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#group + */ + navigation: prismic.GroupField>; + + /** + * contact field in *settings* + * + * - **Field Type**: Group + * - **Placeholder**: *None* + * - **API ID Path**: settings.contact[] + * - **Tab**: Main + * - **Documentation**: https://prismic.io/docs/field#group + */ + contact: prismic.GroupField>; +} + +/** + * settings document from Prismic + * + * - **API ID**: `settings` + * - **Repeatable**: `false` + * - **Documentation**: https://prismic.io/docs/custom-types + * + * @typeParam Lang - Language API ID of the document. + */ +export type SettingsDocument = + prismic.PrismicDocumentWithoutUID< + Simplify, + "settings", + Lang + >; + +export type AllDocumentTypes = HomeDocument | PageDocument | SettingsDocument; + +/** + * Primary content in *Hero → Default → Primary* + */ +export interface HeroSliceDefaultPrimary { + /** + * heading field in *Hero → Default → Primary* + * + * - **Field Type**: Rich Text + * - **Placeholder**: *None* + * - **API ID Path**: hero.default.primary.heading + * - **Documentation**: https://prismic.io/docs/field#rich-text-title + */ + heading: prismic.RichTextField; + + /** + * body field in *Hero → Default → Primary* + * + * - **Field Type**: Rich Text + * - **Placeholder**: *None* + * - **API ID Path**: hero.default.primary.body + * - **Documentation**: https://prismic.io/docs/field#rich-text-title + */ + body: prismic.RichTextField; + + /** + * button text field in *Hero → Default → Primary* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: hero.default.primary.button_text + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + button_text: prismic.KeyTextField; + + /** + * button_link field in *Hero → Default → Primary* + * + * - **Field Type**: Link + * - **Placeholder**: *None* + * - **API ID Path**: hero.default.primary.button_link + * - **Documentation**: https://prismic.io/docs/field#link-content-relationship + */ + button_link: prismic.LinkField; + + /** + * image field in *Hero → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: hero.default.primary.image + * - **Documentation**: https://prismic.io/docs/field#image + */ + image: prismic.ImageField; +} + +/** + * Default variation for Hero Slice + * + * - **API ID**: `default` + * - **Description**: Default + * - **Documentation**: https://prismic.io/docs/slice + */ +export type HeroSliceDefault = prismic.SharedSliceVariation< + "default", + Simplify, + never +>; + +/** + * Slice variation for *Hero* + */ +type HeroSliceVariation = HeroSliceDefault; + +/** + * Hero Shared Slice + * + * - **API ID**: `hero` + * - **Description**: Hero + * - **Documentation**: https://prismic.io/docs/slice + */ +export type HeroSlice = prismic.SharedSlice<"hero", HeroSliceVariation>; + +/** + * Primary content in *Herocard → Default → Primary* + */ +export interface HerocardSliceDefaultPrimary { + /** + * image field in *Herocard → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: herocard.default.primary.image + * - **Documentation**: https://prismic.io/docs/field#image + */ + image: prismic.ImageField; + + /** + * text heading field in *Herocard → Default → Primary* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: herocard.default.primary.text_heading + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + text_heading: prismic.KeyTextField; + + /** + * text field in *Herocard → Default → Primary* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: herocard.default.primary.text + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + text: prismic.KeyTextField; +} + +/** + * Default variation for Herocard Slice + * + * - **API ID**: `default` + * - **Description**: Default + * - **Documentation**: https://prismic.io/docs/slice + */ +export type HerocardSliceDefault = prismic.SharedSliceVariation< + "default", + Simplify, + never +>; + +/** + * Slice variation for *Herocard* + */ +type HerocardSliceVariation = HerocardSliceDefault; + +/** + * Herocard Shared Slice + * + * - **API ID**: `herocard` + * - **Description**: Herocard + * - **Documentation**: https://prismic.io/docs/slice + */ +export type HerocardSlice = prismic.SharedSlice< + "herocard", + HerocardSliceVariation +>; + +/** + * Primary content in *LandingSite → Default → Primary* + */ +export interface LandingSiteSliceDefaultPrimary { + /** + * description field in *LandingSite → Default → Primary* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: landing_site.default.primary.description + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + description: prismic.KeyTextField; + + /** + * image field in *LandingSite → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: landing_site.default.primary.image + * - **Documentation**: https://prismic.io/docs/field#image + */ + image: prismic.ImageField; +} + +/** + * Default variation for LandingSite Slice + * + * - **API ID**: `default` + * - **Description**: Default + * - **Documentation**: https://prismic.io/docs/slice + */ +export type LandingSiteSliceDefault = prismic.SharedSliceVariation< + "default", + Simplify, + never +>; + +/** + * Slice variation for *LandingSite* + */ +type LandingSiteSliceVariation = LandingSiteSliceDefault; + +/** + * LandingSite Shared Slice + * + * - **API ID**: `landing_site` + * - **Description**: LandingSite + * - **Documentation**: https://prismic.io/docs/slice + */ +export type LandingSiteSlice = prismic.SharedSlice< + "landing_site", + LandingSiteSliceVariation +>; + +/** + * Primary content in *SignUp → Default → Primary* + */ +export interface SignUpSliceDefaultPrimary { + /** + * heading field in *SignUp → Default → Primary* + * + * - **Field Type**: Rich Text + * - **Placeholder**: *None* + * - **API ID Path**: sign_up.default.primary.heading + * - **Documentation**: https://prismic.io/docs/field#rich-text-title + */ + heading: prismic.RichTextField; + + /** + * image field in *SignUp → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: sign_up.default.primary.image + * - **Documentation**: https://prismic.io/docs/field#image + */ + image: prismic.ImageField; + + /** + * mail field in *SignUp → Default → Primary* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: sign_up.default.primary.mail + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + mail: prismic.KeyTextField; + + /** + * name field in *SignUp → Default → Primary* + * + * - **Field Type**: Text + * - **Placeholder**: *None* + * - **API ID Path**: sign_up.default.primary.name + * - **Documentation**: https://prismic.io/docs/field#key-text + */ + name: prismic.KeyTextField; + + /** + * done field in *SignUp → Default → Primary* + * + * - **Field Type**: Link + * - **Placeholder**: *None* + * - **API ID Path**: sign_up.default.primary.done + * - **Documentation**: https://prismic.io/docs/field#link-content-relationship + */ + done: prismic.LinkField; +} + +/** + * Default variation for SignUp Slice + * + * - **API ID**: `default` + * - **Description**: Default + * - **Documentation**: https://prismic.io/docs/slice + */ +export type SignUpSliceDefault = prismic.SharedSliceVariation< + "default", + Simplify, + never +>; + +/** + * Slice variation for *SignUp* + */ +type SignUpSliceVariation = SignUpSliceDefault; + +/** + * SignUp Shared Slice + * + * - **API ID**: `sign_up` + * - **Description**: SignUp + * - **Documentation**: https://prismic.io/docs/slice + */ +export type SignUpSlice = prismic.SharedSlice<"sign_up", SignUpSliceVariation>; + +/** + * Primary content in *Upload → Default → Primary* + */ +export interface UploadSliceDefaultPrimary { + /** + * gasGiantImage field in *Upload → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: upload.default.primary.image + * - **Documentation**: https://prismic.io/docs/field#image + */ + image: prismic.ImageField; + + /** + * neptuneImage field in *Upload → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: upload.default.primary.neptuneimage + * - **Documentation**: https://prismic.io/docs/field#image + */ + neptuneimage: prismic.ImageField; + + /** + * superEarthImage field in *Upload → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: upload.default.primary.superearthimage + * - **Documentation**: https://prismic.io/docs/field#image + */ + superearthimage: prismic.ImageField; + + /** + * terrestrialImage field in *Upload → Default → Primary* + * + * - **Field Type**: Image + * - **Placeholder**: *None* + * - **API ID Path**: upload.default.primary.terrestrialimage + * - **Documentation**: https://prismic.io/docs/field#image + */ + terrestrialimage: prismic.ImageField; +} + +/** + * Default variation for Upload Slice + * + * - **API ID**: `default` + * - **Description**: Default + * - **Documentation**: https://prismic.io/docs/slice + */ +export type UploadSliceDefault = prismic.SharedSliceVariation< + "default", + Simplify, + never +>; + +/** + * Slice variation for *Upload* + */ +type UploadSliceVariation = UploadSliceDefault; + +/** + * Upload Shared Slice + * + * - **API ID**: `upload` + * - **Description**: Upload + * - **Documentation**: https://prismic.io/docs/slice + */ +export type UploadSlice = prismic.SharedSlice<"upload", UploadSliceVariation>; + +declare module "@prismicio/client" { + interface CreateClient { + ( + repositoryNameOrEndpoint: string, + options?: prismic.ClientConfig, + ): prismic.Client; + } + + namespace Content { + export type { + HomeDocument, + HomeDocumentData, + HomeDocumentDataSlicesSlice, + PageDocument, + PageDocumentData, + PageDocumentDataSlicesSlice, + SettingsDocument, + SettingsDocumentData, + SettingsDocumentDataNavigationItem, + SettingsDocumentDataContactItem, + AllDocumentTypes, + HeroSlice, + HeroSliceDefaultPrimary, + HeroSliceVariation, + HeroSliceDefault, + HerocardSlice, + HerocardSliceDefaultPrimary, + HerocardSliceVariation, + HerocardSliceDefault, + LandingSiteSlice, + LandingSiteSliceDefaultPrimary, + LandingSiteSliceVariation, + LandingSiteSliceDefault, + SignUpSlice, + SignUpSliceDefaultPrimary, + SignUpSliceVariation, + SignUpSliceDefault, + UploadSlice, + UploadSliceDefaultPrimary, + UploadSliceVariation, + UploadSliceDefault, + }; + } +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/fonts/myCustomFont.ttf b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/fonts/myCustomFont.ttf new file mode 100644 index 00000000..a54fbcfc Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/fonts/myCustomFont.ttf differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/224142_medium.mp4 b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/224142_medium.mp4 new file mode 100644 index 00000000..954099e0 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/224142_medium.mp4 differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/display.png b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/display.png new file mode 100644 index 00000000..3e4a01bd Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/display.png differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/logo.png b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/logo.png new file mode 100644 index 00000000..c4c5ec40 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/logo.png differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/satelite1.jpg b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/satelite1.jpg new file mode 100644 index 00000000..f7f86293 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/images/satelite1.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/next.svg b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/next.svg new file mode 100644 index 00000000..5174b28c --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/next.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/vercel.svg b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/vercel.svg new file mode 100644 index 00000000..d2f84222 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/public/vercel.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/slicemachine.config.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/slicemachine.config.json new file mode 100644 index 00000000..9dcb82dd --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/slicemachine.config.json @@ -0,0 +1,6 @@ +{ + "repositoryName": "aetherwatch", + "adapter": "@slicemachine/adapter-next", + "libraries": ["./src/slices"], + "localSliceSimulatorURL": "http://localhost:3000/slice-simulator" +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/[uid]/page.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/[uid]/page.tsx new file mode 100644 index 00000000..f03dff50 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/[uid]/page.tsx @@ -0,0 +1,42 @@ +import { Metadata } from "next"; +import { notFound } from "next/navigation"; +import { SliceZone } from "@prismicio/react"; + +import { createClient } from "@/prismicio"; +import { components } from "@/slices"; + +type Params = { uid: string }; + +export default async function Page({ params }: { params: Params }) { + const client = createClient(); + const page = await client + .getByUID("page", params.uid) + .catch(() => notFound()); + + return ; +} + +export async function generateMetadata({ + params, +}: { + params: Params; +}): Promise { + const client = createClient(); + const page = await client + .getByUID("page", params.uid) + .catch(() => notFound()); + + return { + title: page.data.meta_title, + description: page.data.meta_description, + }; +} + +export async function generateStaticParams() { + const client = createClient(); + const pages = await client.getAllByType("page"); + + return pages.map((page) => { + return { uid: page.uid }; + }); +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/exit-preview/route.ts b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/exit-preview/route.ts new file mode 100644 index 00000000..8170505a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/exit-preview/route.ts @@ -0,0 +1,5 @@ +import { exitPreview } from "@prismicio/next"; + +export function GET() { + return exitPreview(); +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/preview/route.ts b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/preview/route.ts new file mode 100644 index 00000000..a3b96414 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/preview/route.ts @@ -0,0 +1,10 @@ +import { NextRequest } from "next/server"; +import { redirectToPreviewURL } from "@prismicio/next"; + +import { createClient } from "../../../prismicio"; + +export async function GET(request: NextRequest) { + const client = createClient(); + + return await redirectToPreviewURL({ client, request }); +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/revalidate/route.ts b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/revalidate/route.ts new file mode 100644 index 00000000..52ed3778 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/api/revalidate/route.ts @@ -0,0 +1,8 @@ +import { NextResponse } from "next/server"; +import { revalidateTag } from "next/cache"; + +export async function POST() { + revalidateTag("prismic"); + + return NextResponse.json({ revalidated: true, now: Date.now() }); +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/favicon.ico b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/favicon.ico new file mode 100644 index 00000000..718d6fea Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/favicon.ico differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/globals.css b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/globals.css new file mode 100644 index 00000000..b3914677 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/globals.css @@ -0,0 +1,67 @@ +@tailwind base; +@tailwind components; +@tailwind utilities; + + +@font-face { + font-family: 'MyCustomFont'; + src: /* Adjust this if your font is in another format */ + url('/fonts/myCustomFont.ttf') format('truetype'); /* Add more formats as needed */ + font-weight: normal; /* Adjust the weight accordingly */ + font-style: normal; /* Adjust the style accordingly */ +} + + +.video-background { + position: fixed; /* Ensures the video stays fixed in the background */ + top: 0; + left: 0; + width: 100vw; /* Full viewport width */ + height: 100vh; + display: flex; + z-index: -1; + overflow: hidden; +} + +.background-video { + width: 100%; /* Full viewport width */ + height: 100%; /* Full viewport height */ + object-fit: cover; /* Ensures the video covers the entire area without distortion */ +} + +/* Add this to your CSS file */ +@keyframes float { + 0% { transform: translateY(0px); } + 50% { transform: translateY(-20px); } + 100% { transform: translateY(0px); } +} + +@keyframes glow { + 0% { text-shadow: 0 0 5px #fff, 0 0 10px #fff, 0 0 15px #fff, 0 0 20px #dfcc4f, 0 0 35px #dfcc4f, 0 0 40px #dfcc4f, 0 0 50px #dfcc4f, 0 0 75px #dfcc4f; } + 100% { text-shadow: 0 0 10px #fff, 0 0 20px #fff, 0 0 30px #fff, 0 0 40px #dfcc4f, 0 0 70px #dfcc4f, 0 0 80px #dfcc4f, 0 0 100px #dfcc4f, 0 0 150px #dfcc4f; } +} + +.animate-float { + animation: float 6s ease-in-out infinite; +} + +.animate-glow { + animation: glow 2s ease-in-out infinite alternate; +} + +.animate-pulse-glow { + animation: glow 2s ease-in-out infinite alternate, pulse 2s cubic-bezier(0.4, 0, 0.6, 1) infinite; +} + +.animate-spin-slow { + animation: spin 20s linear infinite; +} + +.stars, .twinkling, .clouds { + position: absolute; + display: block; + top: 0; bottom: 0; left: 0; right: 0; + width: 100%; height: 100%; +} + + diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/layout.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/layout.tsx new file mode 100644 index 00000000..82bc82f0 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/layout.tsx @@ -0,0 +1,66 @@ +import { Protest_Guerrilla } from 'next/font/google' +import "./globals.css"; +import { Roboto_Mono } from 'next/font/google'; +import Header from "@/components/Header"; +import type { Metadata } from "next"; +import clsx from 'clsx'; +import { createClient } from '@/prismicio'; +import Footer from '@/components/Footer'; +import React, { useRef, useEffect } from 'react'; + +const robo_mono = Roboto_Mono({ + weight: '400', + subsets: ['vietnamese'], + variable: '--font-robo_mono', + display: 'swap', +}); + +const protestGuerrilla = Protest_Guerrilla({ + weight: '400', + subsets: ['latin-ext'], + display: 'swap', + variable: '--font-protestGuerrilla', +}); + +export async function generateMetadata(): Promise { + const client = createClient(); + + const settings = await client.getSingle("settings"); + + return { + title: settings.data.site_title || " ", + description: settings.data.meta_description || " ", + openGraph: { + images: [settings.data.image.url || ""], + }, + }; +} + +export default function RootLayout({ + children, +}: { + children: React.ReactNode +}) { + return ( + + + {/* Video Background */} +
+ +
+ + {/* Content */} +
+
+
+ {children} +
+
+
+ + + ) +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/page.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/page.tsx new file mode 100644 index 00000000..30565cb4 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/page.tsx @@ -0,0 +1,25 @@ +import { Metadata } from "next"; +import { SliceZone } from "@prismicio/react"; + +import { createClient } from "@/prismicio"; +import { components } from "@/slices"; + +export default async function Page() { + const client = createClient(); + const page = await client.getSingle("home"); + + + + + return ; +} + +export async function generateMetadata(): Promise { + const client = createClient(); + const page = await client.getSingle("home"); + + return { + title: page.data.meta_title, + description: page.data.meta_description, + }; +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/slice-simulator/page.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/slice-simulator/page.tsx new file mode 100644 index 00000000..8364d2ef --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/app/slice-simulator/page.tsx @@ -0,0 +1,20 @@ +import { + SliceSimulator, + SliceSimulatorParams, + getSlices, +} from "@slicemachine/adapter-next/simulator"; +import { SliceZone } from "@prismicio/react"; + +import { components } from "../../slices"; + +export default function SliceSimulatorPage({ + searchParams, +}: SliceSimulatorParams) { + const slices = getSlices(searchParams.state); + + return ( + + + + ); +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/exo gif.gif b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/exo gif.gif new file mode 100644 index 00000000..cbe151fc Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/exo gif.gif differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/exoplanet.jpg b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/exoplanet.jpg new file mode 100644 index 00000000..61122633 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/exoplanet.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/satelite1.jpg b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/satelite1.jpg new file mode 100644 index 00000000..f7f86293 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/satelite1.jpg differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/wave.gif b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/wave.gif new file mode 100644 index 00000000..efdcdee0 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/assets/wave.gif differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Bounded.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Bounded.tsx new file mode 100644 index 00000000..afd3da7e --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Bounded.tsx @@ -0,0 +1,23 @@ +import clsx from "clsx"; + +type BoundedProps = { + as?: React.ElementType; + className?: string; + children: React.ReactNode; +}; + +export default function Bounded({ + as: Comp = "section", + className, + children, + ...restProps +}: BoundedProps) { + return ( + +
{children}
+ + ); +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Button.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Button.tsx new file mode 100644 index 00000000..0abee65e --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Button.tsx @@ -0,0 +1,19 @@ +import clsx from "clsx"; +import { PrismicNextLink, PrismicNextLinkProps } from "@prismicio/next"; + +export default function Button({ + className, + prefetch, + ...restProps +}: PrismicNextLinkProps) { + return ( + + ); +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Footer.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Footer.tsx new file mode 100644 index 00000000..52d2f1bc --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Footer.tsx @@ -0,0 +1,107 @@ +import React from "react"; +import { FaFacebook, FaInstagram, FaLinkedin } from "react-icons/fa"; +import { HiLocationMarker } from "react-icons/hi"; +import { MdCall, MdMail } from "react-icons/md"; +import Link from "next/link"; // Import Link from Next.js + +const Footer = () => { + return ( +
+
+
+ {/* First Column */} +
+

+ Lets Grow With Us +

+

+ Get exclusive{" "} + best update{" "} + straight to your inbox. +

+
+
+ + +
+
+ + {/* Second Column */} +
+
+

+ Links +

+
    + {/* Use Link component for navigation */} +
  • + Home +
    • +
  • + Update Data +
    • +
  • + Login +
    • +
+
+
+

+ Contact Us +

+
+
+ +

Kolkata, West Bengal

+
+
+ +

nyxnova2024@gmail.com

+
+
+ +

+91 9000300045

+
+
+
+
+
+ + {/* Footer Bottom Section */} +
+
+ + © 2024 nyxNOVA. All rights reserved. + + + + +
    +
  • Privacy Policy
    • +
  • Terms & Conditions
    • +
+ +
+
+
+
+ ); +}; + +export default Footer; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Header.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Header.tsx new file mode 100644 index 00000000..646936e9 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Header.tsx @@ -0,0 +1,51 @@ +import { createClient } from '@/prismicio'; +import { PrismicNextLink } from '@prismicio/next'; +import Link from 'next/link'; +import Image from 'next/image'; + +export default async function Header() { + const client = createClient(); + const settings = await client.getSingle('settings'); + + return ( +
+
+ {/* Logo */} + + nyxNOVA + + + {/* Navigation Links */} + + + {/* Buttons */} + {/*
+ {settings.data.navigation.map(({ link, label }) => ( + + + + ))} +
*/} +
+
+ ); +} diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Heading.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Heading.tsx new file mode 100644 index 00000000..918f5fd5 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/Heading.tsx @@ -0,0 +1,30 @@ +import clsx from "clsx"; + +type HeadingProps = { + as?: "h1" | "h2" | "h3" | "h4" | "h5" | "h6"; + size?: "xl" | "lg" | "md" | "sm"; + children: React.ReactNode; + className?: string; +}; + +export default function Heading({ + as: Comp = "h1", + className, + children, + size = "lg", +}: HeadingProps) { + return ( + + {children} + + ); +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/logo.png b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/logo.png new file mode 100644 index 00000000..c4c5ec40 Binary files /dev/null and b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/components/logo.png differ diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/prismicio.ts b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/prismicio.ts new file mode 100644 index 00000000..2ef5fabc --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/prismicio.ts @@ -0,0 +1,52 @@ +import * as prismic from "@prismicio/client"; +import * as prismicNext from "@prismicio/next"; +import config from "../slicemachine.config.json"; + +/** + * The project's Prismic repository name. + */ +export const repositoryName = + process.env.NEXT_PUBLIC_PRISMIC_ENVIRONMENT || config.repositoryName; + +/** + * A list of Route Resolver objects that define how a document's `url` field is resolved. + * + * {@link https://prismic.io/docs/route-resolver#route-resolver} + */ +// TODO: Update the routes array to match your project's route structure. +const routes: prismic.ClientConfig["routes"] = [ + // Examples: + { + type: "settings", + path: "/", + }, + { + type: "page", + path: "/:uid", + }, +]; + +/** + * Creates a Prismic client for the project's repository. The client is used to + * query content from the Prismic API. + * + * @param config - Configuration for the Prismic client. + */ +export const createClient = (config: prismicNext.CreateClientConfig = {}) => { + const client = prismic.createClient(repositoryName, { + routes, + fetchOptions: + process.env.NODE_ENV === "production" + ? { next: { tags: ["prismic"] }, cache: "force-cache" } + : { next: { revalidate: 5 } }, + ...config, + }); + + prismicNext.enableAutoPreviews({ + client, + previewData: config.previewData, + req: config.req, + }); + + return client; +}; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/index.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/index.tsx new file mode 100644 index 00000000..e82ac750 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/index.tsx @@ -0,0 +1,81 @@ +import { Content } from "@prismicio/client"; +import { + JSXMapSerializer, + PrismicRichText, + SliceComponentProps, +} from "@prismicio/react"; +import Bounded from "@/components/Bounded"; +import Button from "@/components/Button"; +import Heading from "@/components/Heading"; +import React from "react"; +import { PrismicNextImage } from "@prismicio/next"; + +const components: JSXMapSerializer = { + heading1: ({ children }) => ( + + {children} + + ), + paragraph: ({ children }) => ( +

+ {children} +

+ ), + strong: ({ children }) => {children}, + list: ({ children }) => ( +
    + {children} +
+ ), + listItem: ({ children }) =>
  • {children}
    • , +}; + +export type HeroProps = SliceComponentProps; + +const Hero = ({ slice }: HeroProps): JSX.Element => { + return ( + <> + {slice.variation === "default" && ( +
    + + +
    + {/* Heading */} + + + {/* Body Text */} +
    + +
    + + {/* Button Section */} +
    + +
    +
    +     +
    + )} + + ); +}; + + +export default Hero; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/mocks.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/mocks.json new file mode 100644 index 00000000..68a44c9e --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/mocks.json @@ -0,0 +1,61 @@ +[ + { + "__TYPE__": "SharedSliceContent", + "variation": "default", + "primary": { + "heading": { + "__TYPE__": "StructuredTextContent", + "value": [ + { + "type": "paragraph", + "content": { + "text": "Aliqua esse enim voluptate anim commodo consectetur." + } + } + ] + }, + "image": { + "url": "https://images.unsplash.com/photo-1526374965328-7f61d4dc18c5?crop=entropy&cs=srgb&fm=jpg&ixid=M3wzMzc0NjN8MHwxfHNlYXJjaHwyfHxiYW5raW5nJTIwc3lzdGVtfGVufDB8fHx8MTcyMTMzODk3NXww&ixlib=rb-4.0.3&q=85", + "alt": "Matrix movie still", + "origin": { + "id": "iar-afB0QQw", + "url": "https://images.unsplash.com/photo-1526374965328-7f61d4dc18c5?crop=entropy&cs=srgb&fm=jpg&ixid=M3wzMzc0NjN8MHwxfHNlYXJjaHwyfHxiYW5raW5nJTIwc3lzdGVtfGVufDB8fHx8MTcyMTMzODk3NXww&ixlib=rb-4.0.3&q=85", + "width": 5760, + "height": 3840 + }, + "width": 5760, + "height": 3840, + "edit": { + "background": "transparent", + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + } + }, + "credits": null, + "__TYPE__": "ImageContent", + "thumbnails": {} + }, + "body": { + "__TYPE__": "StructuredTextContent", + "value": [ + { + "type": "paragraph", + "content": { + "text": "Aetherwatch is an advanced finance fraud detection and prevention management system designed to safeguard financial transactions. Leveraging sophisticated algorithms and real-time data analytics, Aetherwatch detects anomalies and suspicious activities, providing proactive alerts and insights to mitigate potential fraud risks effectively. By ensuring robust security measures and continuous monitoring, Aetherwatch empowers financial institutions to protect assets and maintain trust in their operations.\n\nlet's start", + "spans": [] + }, + "direction": "ltr" + } + ] + }, + "button_text": { + "__TYPE__": "FieldContent", + "type": "Text", + "value": "SIGN UP" + } + }, + "items": [] + } +] \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/model.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/model.json new file mode 100644 index 00000000..e41ef7dd --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Hero/model.json @@ -0,0 +1,60 @@ +{ + "id": "hero", + "type": "SharedSlice", + "name": "Hero", + "description": "Hero", + "variations": [ + { + "id": "default", + "name": "Default", + "docURL": "...", + "version": "initial", + "description": "Default", + "imageUrl": "", + "primary": { + "heading": { + "type": "StructuredText", + "config": { + "label": "heading", + "placeholder": "", + "allowTargetBlank": true, + "multi": "paragraph,preformatted,heading1,heading2,heading3,heading4,heading5,heading6,strong,em,hyperlink,image,embed,list-item,o-list-item,rtl" + } + }, + "body": { + "type": "StructuredText", + "config": { + "label": "body", + "placeholder": "", + "allowTargetBlank": true, + "multi": "paragraph,preformatted,heading1,heading2,heading3,heading4,heading5,heading6,strong,em,hyperlink,image,embed,list-item,o-list-item,rtl" + } + }, + "button_text": { + "type": "Text", + "config": { + "label": "button text", + "placeholder": "" + } + }, + "button_link": { + "type": "Link", + "config": { + "label": "button_link", + "placeholder": "", + "select": null + } + }, + "image": { + "type": "Image", + "config": { + "label": "image", + "constraint": {}, + "thumbnails": [] + } + } + }, + "items": {} + } + ] +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/index.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/index.tsx new file mode 100644 index 00000000..0e91d6fd --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/index.tsx @@ -0,0 +1,99 @@ +"use client"; + +import React from 'react'; +import { FaAtom, FaReact, FaMapMarkerAlt } from 'react-icons/fa'; +import { motion } from 'framer-motion'; +import styled from '@emotion/styled'; +import Bounded from '@/components/Bounded'; + +// Styled components without twin.macro +const CardContainer = styled(motion.div)` + width: 300px; + height: 400px; + border-radius: 20px; + padding: 1rem 2rem; + display: flex; + flex-direction: column; + justify-content: center; + align-items: center; + text-align: center; + background: rgba(75, 85, 99, 0.5); + box-shadow: 5px 5px 15px rgba(0, 0, 0, 0.2), -5px -5px 15px rgba(255, 255, 255, 0.1); + color: #fbbf24; + transition: transform 0.3s ease-in-out; + backdrop-filter: blur(8px); + &:hover { + transform: scale(1.05) rotateY(10deg); + } +`; + +const IconWrapper = styled.div` + font-size: 5rem; + margin-bottom: 1rem; +`; + +const Title = styled.h3` + font-size: 2rem; + font-weight: bold; + margin-bottom: 0.5rem; + font-family: 'font-display'; /* Manually set font-display */ +`; + +const Content = styled.p` + font-size: 1.25rem; + margin-bottom: 0.5rem; +`; + +const Description = styled.p` + font-size: 1.25rem; + color: #d1d5db; + font-family: 'font-body'; /* Manually set font-body */ +`; + +const ServiceData = [ + { + title: "Universal Rover Navigation", + content: "300-1500km", + description: "Plot safe paths across alien terrains, adapting to various planetary conditions", + icon: , + }, + { + title: "3D Exoplanet Explorer", + content: "500-1500km", + description: "Immerse yourself in interactive 3D models of known exoplanets.", + icon: , + }, + { + title: "AI-Powered Surface Analysis", + content: "300-1500km", + description: "Detect craters, boulders, and unique features on diverse exoplanets", + icon: , + }, +]; + +const HeroCard: React.FC = () => { + return ( + +
    +
    +
    + {ServiceData.map((data, index) => ( + + {data.icon} + {data.title} + {data.content} + {data.description} + + ))} +
    +
    +
    +     + ); +}; + +export default HeroCard; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/mocks.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/mocks.json new file mode 100644 index 00000000..14d12562 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/mocks.json @@ -0,0 +1,42 @@ +[ + { + "__TYPE__": "SharedSliceContent", + "variation": "default", + "primary": { + "image": { + "origin": { + "id": "main", + "url": "https://images.unsplash.com/photo-1545239351-1141bd82e8a6", + "width": 3212, + "height": 3880 + }, + "url": "https://images.unsplash.com/photo-1545239351-1141bd82e8a6", + "width": 3212, + "height": 3880, + "edit": { + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + }, + "background": "transparent" + }, + "credits": null, + "alt": null, + "__TYPE__": "ImageContent", + "thumbnails": {} + }, + "text": { + "__TYPE__": "FieldContent", + "value": "stream", + "type": "Text" + }, + "text_heading": { + "__TYPE__": "FieldContent", + "value": "love", + "type": "Text" + } + }, + "items": [] + } +] \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/model.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/model.json new file mode 100644 index 00000000..7120a8bc --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Herocard/model.json @@ -0,0 +1,41 @@ +{ + "id": "herocard", + "type": "SharedSlice", + "name": "Herocard", + "description": "Herocard", + "variations": [ + { + "id": "default", + "name": "Default", + "docURL": "...", + "version": "initial", + "description": "Default", + "imageUrl": "", + "primary": { + "image": { + "type": "Image", + "config": { + "label": "image", + "constraint": {}, + "thumbnails": [] + } + }, + "text_heading": { + "type": "Text", + "config": { + "label": "text heading", + "placeholder": "" + } + }, + "text": { + "type": "Text", + "config": { + "label": "text", + "placeholder": "" + } + } + }, + "items": {} + } + ] +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/index.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/index.tsx new file mode 100644 index 00000000..f1396b55 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/index.tsx @@ -0,0 +1,24 @@ +import { Content } from "@prismicio/client"; +import { SliceComponentProps } from "@prismicio/react"; + +/** + * Props for `LandingSite`. + */ +export type LandingSiteProps = SliceComponentProps; + +/** + * Component for "LandingSite" Slices. + */ +const LandingSite = ({ slice }: LandingSiteProps): JSX.Element => { + return ( +
    + Placeholder component for landing_site (variation: {slice.variation}) + Slices +
    + ); +}; + +export default LandingSite; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/mocks.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/mocks.json new file mode 100644 index 00000000..5040ca9b --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/mocks.json @@ -0,0 +1,35 @@ +[ + { + "__TYPE__": "SharedSliceContent", + "variation": "default", + "primary": { + "description": { + "__TYPE__": "FieldContent", + "value": "growth", + "type": "Text" + }, + "image": { + "__TYPE__": "ImageContent", + "origin": { + "id": "main", + "url": "https://images.unsplash.com/photo-1551739440-5dd934d3a94a", + "width": 3456, + "height": 4320 + }, + "url": "https://images.unsplash.com/photo-1551739440-5dd934d3a94a", + "width": 3456, + "height": 4320, + "edit": { + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + }, + "background": "transparent" + }, + "thumbnails": {} + } + }, + "items": [] + } +] \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/model.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/model.json new file mode 100644 index 00000000..80943d66 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/LandingSite/model.json @@ -0,0 +1,34 @@ +{ + "id": "landing_site", + "type": "SharedSlice", + "name": "LandingSite", + "description": "LandingSite", + "variations": [ + { + "id": "default", + "name": "Default", + "docURL": "...", + "version": "initial", + "description": "Default", + "imageUrl": "", + "primary": { + "description": { + "type": "Text", + "config": { + "label": "description", + "placeholder": "" + } + }, + "image": { + "type": "Image", + "config": { + "label": "image", + "constraint": {}, + "thumbnails": [] + } + } + }, + "items": {} + } + ] +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/index.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/index.tsx new file mode 100644 index 00000000..15a3fb8a --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/index.tsx @@ -0,0 +1,93 @@ +import Bounded from "@/components/Bounded"; +import { Content } from "@prismicio/client"; +import { SliceComponentProps } from "@prismicio/react"; + +export type SignUpProps = SliceComponentProps; + +const SignUp = ({ slice }: SignUpProps): JSX.Element => { + return ( +
    + +

    SIGN UP

    +
    +
    + + +
    + +
    + + +
    + +
    + + +
    + +
    + +
    + +
    + +
    +
    +     +
    + ); +}; + +export default SignUp; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/mocks.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/mocks.json new file mode 100644 index 00000000..3f013e02 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/mocks.json @@ -0,0 +1,60 @@ +[ + { + "__TYPE__": "SharedSliceContent", + "variation": "default", + "primary": { + "heading": { + "__TYPE__": "StructuredTextContent", + "value": [ + { + "type": "paragraph", + "content": { + "text": "Do ex excepteur aliqua veniam voluptate anim irure irure duis sunt voluptate anim proident id cillum. Do dolore et esse ea consectetur incididunt. Qui do magna tempor ex occaecat pariatur sint aliquip aliquip enim." + } + } + ] + }, + "image": { + "origin": { + "id": "main", + "url": "https://images.unsplash.com/photo-1498050108023-c5249f4df085", + "width": 3882, + "height": 2584 + }, + "url": "https://images.unsplash.com/photo-1498050108023-c5249f4df085", + "width": 3882, + "height": 2584, + "edit": { + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + }, + "background": "transparent" + }, + "credits": null, + "alt": null, + "__TYPE__": "ImageContent", + "thumbnails": {} + }, + "mail": { + "__TYPE__": "FieldContent", + "value": "past", + "type": "Text" + }, + "name": { + "__TYPE__": "FieldContent", + "value": "tail", + "type": "Text" + }, + "done": { + "__TYPE__": "LinkContent", + "value": { + "__TYPE__": "ExternalLink", + "url": "http://google.com" + } + } + }, + "items": [] + } +] \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/model.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/model.json new file mode 100644 index 00000000..42044de3 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/SignUp/model.json @@ -0,0 +1,58 @@ +{ + "id": "sign_up", + "type": "SharedSlice", + "name": "SignUp", + "description": "SignUp", + "variations": [ + { + "id": "default", + "name": "Default", + "docURL": "...", + "version": "initial", + "description": "Default", + "imageUrl": "", + "primary": { + "heading": { + "type": "StructuredText", + "config": { + "label": "heading", + "placeholder": "", + "allowTargetBlank": true, + "multi": "paragraph,preformatted,heading1,heading2,heading3,heading4,heading5,heading6,strong,em,hyperlink,image,embed,list-item,o-list-item,rtl" + } + }, + "image": { + "type": "Image", + "config": { + "label": "image", + "constraint": {}, + "thumbnails": [] + } + }, + "mail": { + "type": "Text", + "config": { + "label": "mail", + "placeholder": "" + } + }, + "name": { + "type": "Text", + "config": { + "label": "name", + "placeholder": "" + } + }, + "done": { + "type": "Link", + "config": { + "label": "done", + "placeholder": "", + "select": null + } + } + }, + "items": {} + } + ] +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/index.tsx b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/index.tsx new file mode 100644 index 00000000..73a7b264 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/index.tsx @@ -0,0 +1,123 @@ +import { Content } from "@prismicio/client"; +import { SliceComponentProps } from "@prismicio/react"; +import { PrismicNextImage } from '@prismicio/next'; // Import Prismic's Next.js Image helper +import Bounded from "@/components/Bounded"; +import Link from "next/link"; + +export type UploadProps = SliceComponentProps; + +const Upload = ({ slice }: UploadProps): JSX.Element => { + return ( + + {/* Animated Background */} + + {/* Title Section */} +
    +

    + Types of Exoplanets +

    +

    + Each planet type varies in appearance, depending on its composition. Discover the diverse and fascinating world of exoplanets, from gas giants to terrestrial wonders. +

    +
    + + {/* Planet Sections */} + {/* Gas Giant */} +
    +
    + {/* Using PrismicNextImage instead of URL */} + +
    +
    +

    + Gas Giants +

    +

    + Planets the size of Saturn or Jupiter, or even larger. Some, like hot Jupiters, orbit so closely to their stars that their temperatures soar into the thousands of degrees. +

    +
    +
    + + {/* Neptune-like */} +
    +
    + +
    +
    +

    + Neptune-like Planets +

    +

    + Similar in size to Neptune or Uranus, with a hydrogen and helium-dominated outer atmosphere and rocky cores. Includes mini-Neptunes, which donot exist in our solar system. +

    +
    +
    + + {/* Super-Earths */} +
    +
    + +
    +
    +

    + Super-Earths +

    +

    + Terrestrial planets more massive than Earth, but lighter than Neptune. Some have atmospheres, while others may be barren rock worlds. +

    +
    +
    + + {/* Terrestrial */} +
    +
    + +
    +
    +

    + Terrestrial Planets +

    +

    + Earth-sized and smaller planets composed of rock, silicate, water, or carbon. These planets may possess atmospheres, oceans, or even signs of habitability. +

    +
    +
    + + {/* Button Section */} +
    + + Explore More Exoplanets + +
    +     + ); +}; + +export default Upload; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/mocks.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/mocks.json new file mode 100644 index 00000000..2348beed --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/mocks.json @@ -0,0 +1,99 @@ +[ + { + "__TYPE__": "SharedSliceContent", + "variation": "default", + "primary": { + "image": { + "origin": { + "id": "main", + "url": "https://images.unsplash.com/photo-1544731612-de7f96afe55f", + "width": 6000, + "height": 4000 + }, + "url": "https://images.unsplash.com/photo-1544731612-de7f96afe55f", + "width": 6000, + "height": 4000, + "edit": { + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + }, + "background": "transparent" + }, + "credits": null, + "alt": null, + "__TYPE__": "ImageContent", + "thumbnails": {} + }, + "neptuneimage": { + "origin": { + "id": "main", + "url": "https://images.unsplash.com/photo-1545239351-1141bd82e8a6", + "width": 3212, + "height": 3880 + }, + "url": "https://images.unsplash.com/photo-1545239351-1141bd82e8a6", + "width": 3212, + "height": 3880, + "edit": { + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + }, + "background": "transparent" + }, + "credits": null, + "alt": null, + "__TYPE__": "ImageContent", + "thumbnails": {} + }, + "superearthimage": { + "origin": { + "id": "main", + "url": "https://images.unsplash.com/photo-1551739440-5dd934d3a94a", + "width": 3456, + "height": 4320 + }, + "url": "https://images.unsplash.com/photo-1551739440-5dd934d3a94a", + "width": 3456, + "height": 4320, + "edit": { + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + }, + "background": "transparent" + }, + "credits": null, + "alt": null, + "__TYPE__": "ImageContent", + "thumbnails": {} + }, + "terrestrialimage": { + "__TYPE__": "ImageContent", + "origin": { + "id": "main", + "url": "https://images.unsplash.com/photo-1499951360447-b19be8fe80f5", + "width": 5848, + "height": 3899 + }, + "url": "https://images.unsplash.com/photo-1499951360447-b19be8fe80f5", + "width": 5848, + "height": 3899, + "edit": { + "zoom": 1, + "crop": { + "x": 0, + "y": 0 + }, + "background": "transparent" + }, + "thumbnails": {} + } + }, + "items": [] + } +] \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/model.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/model.json new file mode 100644 index 00000000..67ab0a51 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/Upload/model.json @@ -0,0 +1,51 @@ +{ + "id": "upload", + "type": "SharedSlice", + "name": "Upload", + "description": "Upload", + "variations": [ + { + "id": "default", + "name": "Default", + "docURL": "...", + "version": "initial", + "description": "Default", + "imageUrl": "", + "primary": { + "image": { + "type": "Image", + "config": { + "label": "gasGiantImage", + "constraint": {}, + "thumbnails": [] + } + }, + "neptuneimage": { + "type": "Image", + "config": { + "label": "neptuneImage", + "constraint": {}, + "thumbnails": [] + } + }, + "superearthimage": { + "type": "Image", + "config": { + "label": "superEarthImage", + "constraint": {}, + "thumbnails": [] + } + }, + "terrestrialimage": { + "type": "Image", + "config": { + "label": "terrestrialImage", + "constraint": {}, + "thumbnails": [] + } + } + }, + "items": {} + } + ] +} \ No newline at end of file diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/index.ts b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/index.ts new file mode 100644 index 00000000..fbb17c06 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/src/slices/index.ts @@ -0,0 +1,11 @@ +// Code generated by Slice Machine. DO NOT EDIT. + +import dynamic from "next/dynamic"; + +export const components = { + hero: dynamic(() => import("./Hero")), + herocard: dynamic(() => import("./Herocard")), + landing_site: dynamic(() => import("./LandingSite")), + sign_up: dynamic(() => import("./SignUp")), + upload: dynamic(() => import("./Upload")), +}; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/tailwind.config.ts b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/tailwind.config.ts new file mode 100644 index 00000000..e19bb3c6 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/tailwind.config.ts @@ -0,0 +1,22 @@ +import type { Config } from "tailwindcss"; + +const config: Config = { + content: [ + "./src/pages/**/*.{js,ts,jsx,tsx,mdx}", + "./src/components/**/*.{js,ts,jsx,tsx,mdx}", + "./src/app/**/*.{js,ts,jsx,tsx,mdx}", + ], + theme: { + extend: { + colors: { + 'blackish-green': '#001a16', // Example custom blackish green color + }, + fontFamily:{ + body: ["var(--font-robo_mono)"], + display: [ "MyCustomFont"] + } + }, + }, + plugins: [], +}; +export default config; diff --git a/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/tsconfig.json b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/tsconfig.json new file mode 100644 index 00000000..d3814c47 --- /dev/null +++ b/nyxNOVA-master/nyxNOVA-fe/nyxNova-site/tsconfig.json @@ -0,0 +1,26 @@ +{ + "compilerOptions": { + "lib": ["dom", "dom.iterable", "esnext"], + "allowJs": true, + "skipLibCheck": true, + "strict": true, + "noEmit": true, + "esModuleInterop": true, + "module": "esnext", + "moduleResolution": "bundler", + "resolveJsonModule": true, + "isolatedModules": true, + "jsx": "preserve", + "incremental": true, + "plugins": [ + { + "name": "next" + } + ], + "paths": { + "@/*": ["./src/*"] + } + }, + "include": ["next-env.d.ts", "**/*.ts", "**/*.tsx", ".next/types/**/*.ts", "src/slices/SignUp/index.jsx"], + "exclude": ["node_modules"] +}