.. _tutorial_dynamic_task:


Generating Dynamic Tasks
========================================

**Prerequisite**: :ref:`tutorial_changing_plugin`


.. contents:: Table of Contents


.. note::   
   To avoid any confusion, it is important to clarify that in this tutorial, `dynamic tasks` refer to tasks that appear during the execution of the mission, rather than tasks that move spatially.

---------------------------------


Static Task Only
---------------------------------

In the configuration file in :ref:`tutorial_changing_plugin` section, the settings related to task generation are configured as follows:

.. code-block:: yaml

    tasks:
      quantity: 100
      locations:
        x_min: 0
        x_max: 1400
        y_min: 0
        y_max: 1000
        non_overlap_radius: 0
      threshold_done_by_arrival: 10.0
      amounts:  
        min: 6.0
        max: 60.0      
      dynamic_task_generation:
        enabled: True
        interval_seconds: 2000
        max_generations: 3
        tasks_per_generation: 25


This configuration means that initially, 100 tasks are generated, and then every 2000 seconds, 25 additional tasks are created up to a maximum of 3 times.

If you wish to run the simulation without adding any additional tasks after the initial setup, modify the configuration as follows:        

.. code-block:: yaml

    tasks:
      quantity: 100    
      ....
      dynamic_task_generation:
        enabled: True
        ....

Then, run the simulation again. 

.. code-block:: shell

   python main.py --config=config_grape.yaml


Then, you will see a simulation similar to the following. In the graph on the right, you can observe that, with no dynamic tasks, the number of remaining tasks starts at 100 and decreases over time without increasing.

.. list-table::
   :widths: 50 50
   :header-rows: 0

   * - .. figure:: result/GRAPE_no_dynamic_task/GRAPE_a10_t100_2024-08-21_14-15-12.gif
         :width: 93%
         :align: center

      

     - .. figure:: result/GRAPE_no_dynamic_task/GRAPE_a10_t100_2024-08-21_14-15-12_timewise.png
         :width: 100%
         :align: center


See the configuration file used for the above simulation: :download:`config_grape.yaml <result/GRAPE_no_dynamic_task/GRAPE_a10_t100_2024-08-21_14-15-12.yaml>`.    


---------------------


With Dynamic Tasks
--------------------------


Now, let's modify the configuration as follows:

.. code-block:: yaml

    tasks:
      quantity: 100
      ....
      dynamic_task_generation:
        enabled: True
        interval_seconds: 1000
        max_generations: 10
        tasks_per_generation: 10


In this setup, the simulation starts with 75 tasks, and 10 new tasks are added every 1000 seconds, for a total of 10 generations. This results in a total of 175 tasks, but with a different task introduction scenario compared to before.

Run the simulation with these updated settings, and you will observe the following results:

.. list-table::
   :widths: 50 50
   :header-rows: 0

   * - .. figure:: result/GRAPE_dynamic_task/GRAPE_a10_t75_2024-08-21_15-45-33.gif
         :width: 93%
         :align: center

      

     - .. figure:: result/GRAPE_dynamic_task/GRAPE_a10_t75_2024-08-21_15-45-33_timewise.png
         :width: 100%
         :align: center

.. note:: 
    Since the number of initial tasks has been changed to 75, the results will be saved as ``GRAPE_a10_t75_{...}.csv``.

    
See the configuration file used for the above simulation: :download:`config_grape.yaml <result/GRAPE_dynamic_task/GRAPE_a10_t75_2024-08-21_15-45-33.yaml>`.