integracja projektu genetycznego generatora stolików

.idea/ProjektAI.iml

@@ -1,8 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
+    <content url="file://$MODULE_DIR$">
-    <orderEntry type="inheritedJdk" />
+      <excludeFolder url="file://$MODULE_DIR$/venv" />
+    </content>
+    <orderEntry type="jdk" jdkName="Python 3.8 (ProjektAI) (2)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>

.idea/misc.xml

@@ -3,5 +3,5 @@
   <component name="JavaScriptSettings">
     <option name="languageLevel" value="ES6" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6 (ProjektAI)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8 (ProjektAI) (2)" project-jdk-type="Python SDK" />
 </project>

kelner/gui/GAdialog/GADefaults.py

@@ -0,0 +1,104 @@
+
+class CrossingOverMethod:
+    FixedQuadrant = 0
+    SingleHorizontalDiv = 1
+    SingleVerticalDiv = 2
+    DoubleHorizontalDiv = 3
+    DoubleVerticalDiv = 4
+    RandomChoice = 5
+
+
+class SelectionMethod:
+    Roulette = 0
+    Tournament = 1
+
+
+class MutationMethod:
+    Flip = 0
+    Swap = 1
+
+
+class GADefaults:
+
+    def __init__(self):
+
+        self.defSelectionMethods = [("ruletka", SelectionMethod.Roulette),
+                                    ("turniej", SelectionMethod.Tournament)]
+
+        self.defCrossingOverMethods = [("pojedynczy poziomy", CrossingOverMethod.SingleHorizontalDiv),
+                                       ("pojedynczy pionowy", CrossingOverMethod.SingleVerticalDiv),
+                                       ("podwójny poziomy", CrossingOverMethod.DoubleHorizontalDiv),
+                                       ("podwójny pionowy", CrossingOverMethod.DoubleVerticalDiv),
+                                       ("ćwiartki", CrossingOverMethod.FixedQuadrant),
+                                       ("losowe", CrossingOverMethod.RandomChoice)]
+
+        self.defMutationMethods = [("inwersja", MutationMethod.Flip),
+                                   ("wymiana", MutationMethod.Swap)]
+
+        self.windowName = "Algorytm genetyczny - parametry"
+        self.windowGeometry = "400x400"
+        
+        self.minTablesCount = 1
+        self.maxTablesCount = 100
+        self.defTablesCount = 20
+        self.runTablesCount = self.defTablesCount
+        self.sliderNameTablesCount = "stoliki"
+        
+        self.minPopulationSize = 4
+        self.maxPopulationSize = 30
+        self.defPopulationSize = 5
+        self.runPopulationSize = self.defPopulationSize
+        self.sliderNamePopulationSize = "populacja"
+        
+        self.minMutation = 0
+        self.maxMutation = 10
+        self.defMutation = 1
+        self.runMutation = self.defMutation
+        self.sliderNameMutation = "mutacje"
+        
+        self.minGenerationsNumber = 1
+        self.maxGenerationsNumber = 1000
+        self.defGenerationsNumber = 20
+        self.runGenerationsNumber = self.defGenerationsNumber
+        self.sliderNameGenerationsNumber = "pokolenia"
+
+        self.defInfoFold = 5
+        self.runInfoFold = self.defInfoFold
+        self.sliderInfoFold = "co ile"
+
+        self.defSelectionMethod = SelectionMethod.Tournament
+        self.runSelectionMethod = self.defSelectionMethod
+        self.radioSelectionMethodName = "metoda selekcji"
+
+        self.defCrossingOverMethod = CrossingOverMethod.SingleHorizontalDiv
+        self.runCrossingOverMethod = self.defCrossingOverMethod
+        self.radioCrossingOverMethodName = "metoda krzyżowania"
+
+        self.defMutationMethod = MutationMethod.Swap
+        self.runMutationMethod = self.defMutationMethod
+        self.radioMutationMethodName = "metoda mutacji"
+
+        self.minElitism = 0
+        self.maxElitism = 50
+        self.defElitism = 0
+        self.runElitism = self.defElitism
+        self.sliderElitismName = "elitarność [%]"
+
+        self.buttonStartName = "generuj"
+        self.buttonDefaultsName = "przywróć"
+
+        self.__forbiddenPlaces = None
+
+        self.waiterPosition = None
+        self.kitchenPosition = None
+
+    def getForbiddenPlaces(self):
+        if self.__forbiddenPlaces is None:
+            self.__forbiddenPlaces = [self.waiterPosition, self.kitchenPosition]
+        return self.__forbiddenPlaces
+
+    def getInfo(self):
+        return "populacja: " + str(self.runPopulationSize) \
+            + ", pokolenia: " + str(self.runGenerationsNumber) \
+            + ", stoliki: " + str(self.runTablesCount) \
+            + ", mutacje: " + str(self.runMutation)

kelner/gui/GAdialog/GADialog.py

@@ -0,0 +1,82 @@
+import tkinter
+from tkinter import *
+
+from kelner.gui.GAdialog.GADefaults import CrossingOverMethod
+
+
+class GADialog:
+
+    def __init__(self, defaults):
+        self.__defaults = defaults
+        self.window = tkinter.Tk()
+        self.window.attributes('-topmost', 'true')
+        self.window.title(defaults.windowName)
+        self.__sliderTablesCount = self.__getSlider(0, defaults.minTablesCount, defaults.maxTablesCount, defaults.runTablesCount, defaults.sliderNameTablesCount)
+        self.__sliderPopulationSize = self.__getSlider(1, defaults.minPopulationSize, defaults.maxPopulationSize, defaults.runPopulationSize, defaults.sliderNamePopulationSize)
+        self.__sliderMutation = self.__getSlider(2,  defaults.minMutation, defaults.maxMutation, defaults.runMutation, defaults.sliderNameMutation)
+        self.__sliderGenerationsNumber = self.__getSlider(3, defaults.minGenerationsNumber, defaults.maxGenerationsNumber, defaults.runGenerationsNumber, defaults.sliderNameGenerationsNumber)
+        self.__sliderInfoFold = self.__getSlider(4, defaults.minGenerationsNumber,  defaults.maxGenerationsNumber, defaults.runInfoFold, defaults.sliderInfoFold)
+        self.__sliderElitism = self.__getSlider(5, defaults.minElitism, defaults.maxElitism, defaults.runElitism, defaults.sliderElitismName)
+
+        self.__radioSelectionMethodValue = IntVar()
+        self.__radioSelectionMethodValue.set(self.__defaults.runSelectionMethod)
+        self.__getRadioButton(6, defaults.defSelectionMethods, self.__radioSelectionMethodValue, defaults.radioSelectionMethodName)
+
+        self.__radioCrossingOverMethodValue = IntVar()
+        self.__radioCrossingOverMethodValue.set(self.__defaults.runCrossingOverMethod)
+        self.__getRadioButton(8, defaults.defCrossingOverMethods, self.__radioCrossingOverMethodValue, defaults.radioCrossingOverMethodName)
+
+        self.__radioMutationMethodValue = IntVar()
+        self.__radioMutationMethodValue.set(self.__defaults.runMutationMethod)
+        self.__getRadioButton(12, defaults.defMutationMethods, self.__radioMutationMethodValue, defaults.radioMutationMethodName)
+
+        self.__buttonDefaults = self.__getButton(15, 0, W, defaults.buttonDefaultsName, self.__setDefaults)
+        self.__buttonStart = self.__getButton(15, 1, E,  defaults.buttonStartName, self.__getAllValues)
+        self.window.mainloop()
+        
+    def __getSlider(self, rowNum, minVal, maxVal, runVal, labText):
+        label = Label(self.window, text = labText)
+        label.grid(row = rowNum, column = 0, sticky = S + W, padx = 5, pady = 5)
+        slider = Scale(self.window, variable = IntVar(), from_ = minVal, to = maxVal, orient=HORIZONTAL, length = 200)
+        slider.grid(row = rowNum, column = 1, sticky = E, padx = 5, pady = 3)
+        slider.set(runVal)
+        return slider
+
+    def __getButton(self, rowNum, colNum, stickPos, btnText, action):
+        button = Button(self.window, text = btnText, command = action)
+        button.grid(row = rowNum, column = colNum, stick = stickPos, columnspan = 2, padx=60, pady=5)
+        return button
+
+    def __getRadioButton(self, rowNum, methods, variable, labText):
+        label = LabelFrame(self.window, text = labText)
+        label.grid(row=rowNum, column=0, columnspan=2,  padx=5, pady=5, sticky=W)
+        rowNum += 1
+        iteration = 0
+        for text, mode in methods:
+            radio = Radiobutton(label, text = text, variable = variable, value = mode)
+            radio.grid(row = rowNum, column = iteration % 2, sticky = W, padx = 5, pady = 3)
+            rowNum += iteration % 2
+            iteration += 1
+
+    def __setDefaults(self):
+        self.__sliderTablesCount.set(self.__defaults.defTablesCount)
+        self.__sliderPopulationSize.set(self.__defaults.defPopulationSize)
+        self.__sliderMutation.set(self.__defaults.defMutation)
+        self.__sliderGenerationsNumber.set(self.__defaults.defGenerationsNumber)
+        self.__sliderInfoFold.set(self.__defaults.defInfoFold)
+        self.__sliderElitism.set(self.__defaults.defElitism)
+        self.__radioSelectionMethodValue.set(self.__defaults.defSelectionMethod)
+        self.__radioCrossingOverMethodValue.set(self.__defaults.defCrossingOverMethod)
+        self.__radioMutationMethodValue.set(self.__defaults.defMutationMethod)
+
+    def __getAllValues(self):
+        self.__defaults.runTablesCount = self.__sliderTablesCount.get()
+        self.__defaults.runPopulationSize = self.__sliderPopulationSize.get()
+        self.__defaults.runMutation = self.__sliderMutation.get()
+        self.__defaults.runGenerationsNumber = self.__sliderGenerationsNumber.get()
+        self.__defaults.runInfoFold = self.__sliderInfoFold.get()
+        self.__defaults.runElitism = self.__sliderElitism.get()
+        self.__defaults.runSelectionMethod = self.__radioSelectionMethodValue.get()
+        self.__defaults.runCrossingOverMethod = self.__radioCrossingOverMethodValue.get()
+        self.__defaults.runMutationMethod = self.__radioMutationMethodValue.get()
+        self.window.destroy()

kelner/gui/chart/Plots.py

@@ -0,0 +1,22 @@
+import matplotlib.pyplot as plt
+
+
+class Plots:
+
+    def __init__(self, generationNumber, bestFitnesses, bestTabless, worstFitnesses, worstTables, title):
+        self.__generationsNumber = generationNumber
+        self.__bestFitnesses = bestFitnesses
+        self.__bestTables = bestTabless
+        self.__worstTables = worstTables
+        self.__worstFitnesses = worstFitnesses
+        self.__title = title
+
+    def draw(self):
+        generations = [i for i in range(self.__generationsNumber + 1)]
+        plt.figure(num = self.__title)
+        plt.plot(generations, self.__bestTables, label = "stoliki najlepszego")
+        plt.plot(generations, self.__bestFitnesses, label="fitness najlepszego")
+        plt.plot(generations, self.__worstTables, label = "stoliki najgorszego")
+        plt.plot(generations, self.__worstFitnesses, label = "fitness najgorszego")
+        plt.legend()
+        plt.show()

kelner/main.py

@@ -1,25 +1,24 @@
 import pygame
+
 from kelner.src.components.GridBoard import GridBoard
 from kelner.src.components.Waiter import Waiter
-from kelner.src.components.Table import Table
 from kelner.src.components.Kitchen import Kitchen
 from kelner.src.managers.DrawableCollection import DrawableCollection
+
+# create screen consts
 from kelner.src.managers.MenuManager import MenuManager
-from kelner.src.managers.TableManager import TableManager
+from kelner.src.managers.TableGenerator import TableGenerator
-from kelner.src.managers.WaiterManager import WaiterManager
 from kelner.src.algorithms.DecisionTree import Tree_Builder
 from kelner.src.managers.KitchenManager import KitchenManager
 from kelner.src.algorithms.CNN.PrepareData import LoadModelThread
 import kelner.src.settings as settings
-import time
 
-# create screen consts
+Scale        = 1.5                  # scale for all images used within project
-Scale = 2  # scale for all images used within project
+CellSize     = round(50 * Scale)  # pixel size of 1 square cell in the grid
-CellSize = round(50 * Scale)  # pixel size of 1 square cell in the grid
+PaintOffset  = CellSize           # pixel size of paint offset for all drawables
-PaintOffset = CellSize  # pixel size of paint offset for all drawables
+GridCountX   = 15                 # number of columns in grid
-GridCountX = 15  # number of columns in grid
+GridCountY   = 9                  # number of rows in grid
-GridCountY = 9  # number of rows in grid
+ScreenWidth  = CellSize * GridCountX + 2 * PaintOffset  # screen width in pixels
-ScreenWidth = CellSize * GridCountX + 2 * PaintOffset  # screen width in pixels
 ScreenHeight = CellSize * GridCountY + 2 * PaintOffset  # screen height in pixels
 running_tasks = {'table': [], 'waiter': []}
 
@@ -34,8 +33,10 @@ load_model_thread.start()
 # joining this thread to main thread. Man thread will be started after this finish
 load_model_thread.join()
 
+kitchenManager = KitchenManager(gridBoard)
+
 # initialize drawable objects manager
-drawableManager = DrawableCollection()
+drawableManager = DrawableCollection(kitchenManager)
 
 # initialize menu manager
 menuManager = MenuManager()
@@ -75,48 +76,16 @@ else:
     print("test4: fail")
 
 # initialize waiter component
-waiter1 = Waiter(0, 0, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+waiter1 = Waiter(7, 4, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
-# waiter2 = Waiter(0, GridCountY - 1, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
-# waiter3 = Waiter(GridCountX - 1, 0, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
-# waiter4 = Waiter(GridCountX - 1, GridCountY - 1, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
-
 
 # adds waiter to drawable collection
 drawableManager.add(waiter1)
-# drawableManager.add(waiter2)
-# drawableManager.add(waiter3)
-# drawableManager.add(waiter4)
 
-
+kitchen = Kitchen(14, 0, 5, GridCountX - 5, 5, GridCountY - 5, CellSize, PaintOffset)
-kitchen = Kitchen(5, GridCountX - 5, 5, GridCountY - 5, CellSize, PaintOffset)
 drawableManager.add(kitchen)
-kitchenManager = KitchenManager(drawableManager, gridBoard)
 
-# My comment
+tableGenerator = TableGenerator(GridCountX, GridCountY, 1, GridCountX - 2, 1, GridCountY - 2, CellSize, PaintOffset, drawableManager)
-# initialize a number of tables given in range
+tableGenerator.start()
-for i in range(0, 40):
-    table = Table(1, GridCountX - 2, 1, GridCountY - 2, CellSize, PaintOffset)
-    if drawableManager.generatePosition(table):
-        drawableManager.add(table)
-
-# new thread controlling tables
-tableTask = TableManager(drawableManager, menuManager)
-tableTask.start()
-running_tasks['table'].append(tableTask)
-
-# new thread controlling waiter
-waiter1Task = WaiterManager(drawableManager, [waiter1], kitchenManager, menuManager, tableTask)
-waiter1Task.start()
-running_tasks['waiter'].append(tableTask)
-
-# waiter2Task = WaiterManager(drawableManager, [waiter2])
-# waiter2Task.start()
-#
-# waiter3Task = WaiterManager(drawableManager, [waiter3])
-# waiter3Task.start()
-#
-# waiter4Task = WaiterManager(drawableManager, [waiter4])
-# waiter4Task.start()
 
 # main loop
 running = True
@@ -124,56 +93,12 @@ while running:
 
     for event in pygame.event.get():
         if event.type == pygame.QUIT:
-            tableTask.stop()
+            tableGenerator.stop()
-            waiter1Task.stop()
+            drawableManager.stop()
-            # waiter2Task.stop()
-            # waiter3Task.stop()
-            # waiter4Task.stop()
             running = False
 
-        # handles keyboard events
-        if event.type == pygame.KEYDOWN:
-            if event.key == pygame.K_LEFT:
-                # checks if new waiter's position to the left is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX() - 1, waiter1.getY()):
-                    waiter1.moveLeft()
-            if event.key == pygame.K_RIGHT:
-                # checks if new waiter's position to the right is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX() + 1, waiter1.getY()):
-                    waiter1.moveRight()
-            if event.key == pygame.K_UP:
-                # checks if new waiter's position up is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX(), waiter1.getY() - 1):
-                    waiter1.moveUp()
-            if event.key == pygame.K_DOWN:
-                # checks if new waiter's position down is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX(), waiter1.getY() + 1):
-                    waiter1.moveDown()
-
-            if event.key == pygame.K_w:
-                # checks if new waiter's position to the left is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX() - 1, waiter1.getY() - 1):
-                    waiter1.moveLeft()
-                    waiter1.moveUp()
-            if event.key == pygame.K_d:
-                # checks if new waiter's position to the right is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX() + 1, waiter1.getY() - 1):
-                    waiter1.moveRight()
-                    waiter1.moveUp()
-            if event.key == pygame.K_s:
-                # checks if new waiter's position up is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX() + 1, waiter1.getY() + 1):
-                    waiter1.moveDown()
-                    waiter1.moveRight()
-            if event.key == pygame.K_a:
-                # checks if new waiter's position down is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter1.getX() - 1, waiter1.getY() + 1):
-                    waiter1.moveDown()
-                    waiter1.moveLeft()
-            drawableManager.forceRepaint()
-
     # repaints all objects to the screen
-    # is set only on initial paint or after keyboard event or call to forceRepaint()
+    # is set only on initial paint or call to forceRepaint()
     if drawableManager.mustRepaint():
         if not kitchenManager.is_running():
             gridBoard.reinitialize()

kelner/src/algorithms/CNN/PrepareData.py

@@ -8,9 +8,9 @@ from tensorflow.keras.models import load_model
 import kelner.src.settings as settings
 
 # currently all images are not stored in repo because of big weight (5 GB)
-data_dir = 'D:\\Nauka\\Studia\\4_sem\\SztucznaInteligencja\\A_star\\CNN\\foodRecognitionCNN\\food-101\\images'
+#data_dir = 'D:\\Nauka\\Studia\\4_sem\\SztucznaInteligencja\\A_star\\CNN\\foodRecognitionCNN\\food-101\\images'
-folder_dir = 'D:\\Nauka\\Studia\\4_sem\\SztucznaInteligencja\\A_star\\CNN\\foodRecognitionCNN\\food-101'
+#folder_dir = 'D:\\Nauka\\Studia\\4_sem\\SztucznaInteligencja\\A_star\\CNN\\foodRecognitionCNN\\food-101'
-foods_sorted = sorted(os.listdir(data_dir))
+#foods_sorted = sorted(os.listdir(data_dir))
 food_id = 0
 
 

kelner/src/algorithms/GATableGenerator/GATableGenerator.py

@@ -0,0 +1,304 @@
+import random
+import math
+from queue import PriorityQueue
+from kelner.src.algorithms.GATableGenerator.Individual import Individual
+from kelner.src.algorithms.AStar.Finder import Finder
+from kelner.gui.GAdialog.GADefaults import GADefaults, CrossingOverMethod, MutationMethod, SelectionMethod
+
+
+class GATableGenerator:
+
+    def __init__(self, gridCols, gridRows, params):
+        self.gridCols = gridCols
+        self.gridRows = gridRows
+        self.params = params
+        self.currentGenerationNumber = 0
+        self.population = None
+        self.bestFitnessScores = []
+        self.worstFitnessScores = []
+        self.bestTables = []
+        self.worstTables = []
+
+    def generateTables(self):
+        table = [[0] * self.gridCols for i in range(self.gridRows)]
+        for _ in range(self.params.runTablesCount):
+            isPositionUnique = False
+            while not isPositionUnique:
+                x = random.randint(0, self.gridCols - 1)
+                y = random.randint(0, self.gridRows - 1)
+                if (x, y) not in self.params.getForbiddenPlaces() and table[y][x] == 0:
+                    isPositionUnique = True
+                    table[y][x] = 1
+        table[self.params.kitchenPosition[1]][self.params.kitchenPosition[0]] = 1
+        return table
+
+    def getIndividual(self, table):
+        origin = self.params.waiterPosition
+        finder = Finder(table)
+        fitnessScore = 0
+        tablesCount = 0
+        for y in range(self.gridRows):
+            for x in range(self.gridCols):
+                if table[y][x] == 1:
+                    tablesCount += 1
+                    targets = finder.getNeighbours((x, y), False)
+                    for target in targets:
+                        if origin == target:
+                            fitnessScore += 1
+                            break
+                        else:
+                            path = finder.getPath(origin, target, True)
+                            if path:
+                                fitnessScore += 1
+                                break
+        individual = Individual(table, fitnessScore - (tablesCount - fitnessScore), tablesCount)
+        return individual
+
+    def updateStats(self):
+        bestIndividual = self.getBestIndividual()
+        worstIndividual = self.getWorstIndividual()
+        self.bestFitnessScores.append(bestIndividual.getFitness())
+        self.bestTables.append(bestIndividual.getTablesCount())
+        self.worstFitnessScores.append(worstIndividual.getFitness())
+        self.worstTables.append(worstIndividual.getTablesCount())
+
+    def firstPopulation(self):
+        self.population = PriorityQueue()
+        for _ in range(self.params.runPopulationSize):
+            self.population.put(self.getIndividual(self.generateTables()))
+        self.currentGenerationNumber = 0
+        self.bestFitnessScores = []
+        self.worstFitnessScores = []
+        self.bestTables = []
+        self.worstTables = []
+        self.updateStats()
+
+    def getPopulationQueue(self):
+        queue = PriorityQueue()
+        for item in self.population.queue:
+            queue.put(item)
+        return queue
+
+    def getPopulationSortedArray(self):
+        queue = self.getPopulationQueue()
+        array = []
+        while not queue.empty():
+            array.append(queue.get())
+        return array
+
+    def arrayToQueue(self, array):
+        queue = PriorityQueue()
+        for item in array:
+            queue.put(item)
+        return queue
+
+    def selectParentsByRoulette(self):
+        populationArray = self.getPopulationSortedArray()
+        parents = []
+        delta = populationArray[len(populationArray) - 1].getFitness()
+        if delta > 0:
+            delta = 0
+        else:
+            delta = abs(delta) + 1
+        fitnessSum = 0
+        for individual in populationArray:
+            fitnessSum += individual.getFitness() + delta
+        for _ in range(2):
+            draw = random.uniform(0, 1)
+            accumulated = 0
+            for individual in populationArray:
+                probability = float(individual.getFitness() + delta) / fitnessSum
+                accumulated += probability
+                if draw <= accumulated:
+                    parents.append(individual)
+                    fitnessSum -= (individual.getFitness() + delta)
+                    populationArray.remove(individual)
+                    break
+        return parents
+
+    def selectParentsByTournament(self):
+        parents = []
+        competitorsNum = math.ceil(0.25 * self.params.runPopulationSize)
+        if competitorsNum < self.params.minPopulationSize:
+            competitorsNum = self.params.minPopulationSize - 1
+        population = self.getPopulationSortedArray()
+        parent = self.arrayToQueue(random.sample(population, competitorsNum)).get()
+        population.remove(parent)
+        parents.append(parent)
+        parents.append(self.arrayToQueue(random.sample(population, competitorsNum)).get())
+        return parents
+
+    def quadrant(self, parentL, parentR):
+        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
+        for row in range(self.gridRows):
+            for col in range(self.gridCols):
+                if (row <= math.floor((self.gridRows - 1) / 2.0)) and (col <= math.ceil((self.gridCols - 1) / 2.0)) or \
+                        (row > math.floor((self.gridRows - 1) / 2.0)) and (col > math.ceil((self.gridCols - 1) / 2.0)):
+                    childTables[row][col] = parentL.getTables()[row][col]
+                else:
+                    childTables[row][col] = parentR.getTables()[row][col]
+        return childTables
+
+    def singleVerticalDiv(self, parentL, parentR):
+        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
+        divX = random.randint(1, self.gridCols - 2)
+        for row in range(self.gridRows):
+            for col in range(self.gridCols):
+                if col <= divX:
+                    childTables[row][col] = parentL.getTables()[row][col]
+                else:
+                    childTables[row][col] = parentR.getTables()[row][col]
+        return childTables
+
+    def singleHorizontalDiv(self, parentL, parentR):
+        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
+        divY = random.randint(1, self.gridRows - 2)
+        for row in range(self.gridRows):
+            for col in range(self.gridCols):
+                if row <= divY:
+                    childTables[row][col] = parentL.getTables()[row][col]
+                else:
+                    childTables[row][col] = parentR.getTables()[row][col]
+        return childTables
+
+    def doubleVerticalDiv(self, parentL, parentR):
+        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
+        divC = math.ceil((self.gridCols - 1) / 2)
+        divX1 = random.randint(1, divC - 1)
+        divX2 = random.randint(divC + 1, self.gridCols - 2)
+        for row in range(self.gridRows):
+            for col in range(self.gridCols):
+                if divX1 <= col < divX2:
+                    childTables[row][col] = parentL.getTables()[row][col]
+                else:
+                    childTables[row][col] = parentR.getTables()[row][col]
+        return childTables
+
+    def doubleHorizontalDiv(self, parentL, parentR):
+        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
+        divC = math.ceil((self.gridRows - 1) / 2)
+        divY1 = random.randint(1, divC - 1)
+        divY2 = random.randint(divC + 1, self.gridRows - 2)
+        for row in range(self.gridRows):
+            for col in range(self.gridCols):
+                if divY1 <= row < divY2:
+                    childTables[row][col] = parentL.getTables()[row][col]
+                else:
+                    childTables[row][col] = parentR.getTables()[row][col]
+        return childTables
+
+    def randomChoice(self, parentL, parentR):
+        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
+        parents = [parentL.getTables(), parentR.getTables()]
+        for row in range(self.gridRows):
+            for col in range(self.gridCols):
+                childTables[row][col] = random.choice(parents)[row][col]
+        return childTables
+
+    def procreate(self):
+        if self.params.runSelectionMethod == SelectionMethod.Roulette:
+            parentLeft, parentRight = self.selectParentsByRoulette()
+        elif self.params.runSelectionMethod == SelectionMethod.Tournament:
+            parentLeft, parentRight = self.selectParentsByTournament()
+        child = None
+        if self.params.runCrossingOverMethod == CrossingOverMethod.FixedQuadrant:
+            child = self.quadrant(parentLeft, parentRight)
+        elif self.params.runCrossingOverMethod == CrossingOverMethod.SingleVerticalDiv:
+            child = self.singleVerticalDiv(parentLeft, parentRight)
+        elif self.params.runCrossingOverMethod == CrossingOverMethod.SingleHorizontalDiv:
+            child = self.singleHorizontalDiv(parentLeft, parentRight)
+        elif self.params.runCrossingOverMethod == CrossingOverMethod.DoubleVerticalDiv:
+            child = self.doubleVerticalDiv(parentLeft, parentRight)
+        elif self.params.runCrossingOverMethod == CrossingOverMethod.DoubleHorizontalDiv:
+            child = self.doubleHorizontalDiv(parentLeft, parentRight)
+        elif self.params.runCrossingOverMethod == CrossingOverMethod.RandomChoice:
+            child = self.randomChoice(parentLeft, parentRight)
+        return child
+
+    def getRandTuple(self):
+        isPlaceAvailable = False
+        while not isPlaceAvailable:
+            randX = random.randint(0, self.gridCols - 1)
+            randY = random.randint(0, self.gridRows - 1)
+            isPlaceAvailable = (randX, randY) not in self.params.getForbiddenPlaces()
+        return randX, randY
+
+    def mutateFlip(self, tables):
+        mutatedTables = tables
+        numberOfMutation = random.randint(0, self.params.runMutation)
+        for _ in range(numberOfMutation):
+            randX, randY = self.getRandTuple()
+            if mutatedTables[randY][randX] == 1:
+                mutatedTables[randY][randX] = 0
+            else:
+                mutatedTables[randY][randX] = 1
+        return mutatedTables
+
+    def mutateSwap(self, tables):
+        mutatedTables = tables
+        numberOfMutation = random.randint(0, self.params.runMutation)
+        for _ in range(numberOfMutation):
+            randX1, randY1 = self.getRandTuple()
+            randX2, randY2 = self.getRandTuple()
+            value = mutatedTables[randY1][randX1]
+            mutatedTables[randY1][randX1] = mutatedTables[randY2][randX2]
+            mutatedTables[randY2][randX2] = value
+        return mutatedTables
+
+    def makeNextGeneration(self):
+        tablesArray = []
+        eliteSize = math.ceil((self.params.runPopulationSize * self.params.runElitism) / 100.0)
+        for _ in range(self.params.runPopulationSize - eliteSize):
+            if self.params.runMutationMethod == MutationMethod.Flip:
+                mutated = self.mutateFlip(self.procreate())
+            elif self.params.runMutationMethod == MutationMethod.Swap:
+                mutated = self.mutateSwap(self.procreate())
+            tablesArray.append(mutated)
+        eliteArray = []
+        for _ in range(eliteSize):
+            eliteArray.append(self.population.get())
+        self.population = PriorityQueue()
+        for individual in eliteArray:
+            self.population.put(individual)
+        for table in tablesArray:
+            self.population.put(self.getIndividual(table))
+        self.currentGenerationNumber += 1
+        self.updateStats()
+
+    def canGenerate(self):
+        return self.currentGenerationNumber < self.params.runGenerationsNumber
+
+    def getBestIndividual(self):
+        population = self.getPopulationQueue()
+        return population.get()
+
+    def getWorstIndividual(self):
+        population = self.getPopulationSortedArray()
+        return population[len(population) - 1]
+
+    def printBest(self):
+        populationBest = self.getBestIndividual()
+        populationBest.print(self.currentGenerationNumber)
+
+    def printPopulation(self):
+        queue = self.getPopulationQueue()
+        while not queue.empty():
+            individual = queue.get()
+            individual.print(self.currentGenerationNumber)
+        print('---------------------------------------')
+
+    def makeAllGenerations(self):
+        self.printBest()
+        while self.canGenerate():
+            self.makeNextGeneration()
+            self.printBest()
+
+"""
+params = GADefaults()
+generator = GATableGenerator(15, 9, params)
+generator.firstPopulation()
+generator.printPopulation()
+while generator.canGenerate():
+    generator.makeNextGeneration()
+    generator.printPopulation()
+"""

kelner/src/algorithms/GATableGenerator/Individual.py

@@ -0,0 +1,33 @@
+class Individual:
+
+    def __init__(self, table, fitnessScore, tablesCount):
+        self.__table = table
+        self.__fitnessScore = fitnessScore
+        self.__tablesCount = tablesCount
+
+    # operator (>) for PriorityQueue comparison (determines the objects order)
+    def __gt__(self, other):
+        return self.__fitnessScore < other.__fitnessScore
+
+    def getTables(self):
+        return self.__table
+
+    def getTablesCount(self):
+        return self.__tablesCount
+
+    def getFitness(self):
+        return self.__fitnessScore
+
+    def getInfo(self, generation):
+        return f"GENERATION: {generation}, FITNESS: {self.__fitnessScore}, TABLES: {self.__tablesCount}"
+
+    def print(self, generation):
+        print(self.getInfo(generation))
+        cols = len(self.__table[0])
+        rows = len(self.__table)
+        for row in range(rows):
+            for col in range(cols):
+                v = self.__table[row][col]
+                v = ' ' if v == 0 else '#' if v == 1 else 'O'
+                print('|', v, sep='', end='')
+            print('|')

kelner/src/components/Drawable.py

@@ -1,5 +1,3 @@
-from kelner.src.managers.ImageCache import ImageCache, Images
-
 
 class Drawable:
 
@@ -62,15 +60,3 @@ class Drawable:
 
     def drawAux(self, screen):
         pass
-
-    def getImage(self, imageKind, img_path=None):
-        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate]:
-            size = int(self.getCellSize() / 3)
-        elif imageKind in [Images.Kitchen, Images.Dishes]:
-            size = int(self.getCellSize())
-        else:
-            size = int(1.4 * self.getCellSize())
-        if img_path:
-            return ImageCache.getInstance().getImage(imageKind, size, size, img_path)
-        else:
-            return ImageCache.getInstance().getImage(imageKind, size, size)

kelner/src/components/Kitchen.py

@@ -1,18 +1,15 @@
 import random
-from enum import Enum
-from threading import Lock
 from kelner.src.components.Drawable import Drawable
 from kelner.src.managers.ImageCache import ImageCache, Images
 from kelner.src.algorithms.DecisionTree import Tree_Builder
 import os
-import copy
-import time
 import pygame
 
+
 class Kitchen(Drawable):
-    def __init__(self, minX, maxX, minY, maxY, cellSize, offset):
+    def __init__(self, x, y, minX, maxX, minY, maxY, cellSize, offset):
         # call base class constructor
-        super().__init__(14, 0, minX, maxX, minY, maxY, cellSize, offset)
+        super().__init__(x, y, minX, maxX, minY, maxY, cellSize, offset)
         self._preparing_orders = None
         self._ready_orders = None
         self._photos_path = os.path.join(os.getcwd(), 'foodImages')
@@ -92,7 +89,17 @@ class Kitchen(Drawable):
             # print("Image drawing: {}".format(img_path))
         return img_paths
 
-
+    def getImage(self, imageKind, img_path=None):
+        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate]:
+            size = int(self.getCellSize() / 3)
+        elif imageKind in [Images.Kitchen, Images.Dishes]:
+            size = int(self.getCellSize())
+        else:
+            size = int(1.4 * self.getCellSize())
+        if img_path:
+            return ImageCache.getInstance().getImage(imageKind, size, size, img_path)
+        else:
+            return ImageCache.getInstance().getImage(imageKind, size, size)
 
     def draw(self, screen):
         xBase = self.getX() * self.getCellSize() + self.getOffset()

kelner/src/components/Table.py

@@ -111,7 +111,7 @@ class Table(Drawable):
         self.__status = status
 
     def __getImage(self, imageKind):
-        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate]:
+        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate, Images.Chicken]:
             size = int(self.getCellSize() / 3)
         else:
             size = int(1.4 * self.getCellSize())
@@ -164,3 +164,15 @@ class Table(Drawable):
                 screen.blit(imagePlate, (xBase + guest1XOffset, yBase + platesYOffset))
                 screen.blit(imagePlate, (xBase + guest2XOffset, yBase + platesYOffset))
                 screen.blit(imagePlate, (xBase + guest3XOffset, yBase + platesYOffset))
+        elif self.isStatus(Status.Served):
+            platesYOffset = int(0.3 * self.getCellSize())
+            imageChicken = self.__getImage(Images.Chicken)
+            if len(self.__guests) == 1:
+                screen.blit(imageChicken, (xBase + guest2XOffset, yBase + platesYOffset))
+            elif len(self.__guests) == 2:
+                screen.blit(imageChicken, (xBase + guest4XOffset, yBase + platesYOffset))
+                screen.blit(imageChicken, (xBase + guest5XOffset, yBase + platesYOffset))
+            elif len(self.__guests) == 3:
+                screen.blit(imageChicken, (xBase + guest1XOffset, yBase + platesYOffset))
+                screen.blit(imageChicken, (xBase + guest2XOffset, yBase + platesYOffset))
+                screen.blit(imageChicken, (xBase + guest3XOffset, yBase + platesYOffset))

kelner/src/managers/DrawableCollection.py

@@ -7,16 +7,43 @@ from kelner.src.components.Kitchen import Kitchen
 
 
 # drawable objects manager
+from kelner.src.managers.MenuManager import MenuManager
+from kelner.src.managers.TableManager import TableManager
+from kelner.src.managers.WaiterManager import WaiterManager
+
+
 class DrawableCollection:
     # const, minimal distance between objects
     __MinDistanceX = 1
     __MinDistanceY = 0
 
-    def __init__(self):
+    def __init__(self, kitchenManager):
         # collection that holds all drawable objects
         self.__mustRepaint = True
         self.__drawables = []
         self.__waiterLock = Lock()
+        self.__tasks = []
+        self.__kitchenManager = kitchenManager
+
+    def start(self):
+        # initialize menu manager
+        menuManager = MenuManager()
+        # new thread controlling tables
+        tableTask = TableManager(self, menuManager)
+        self.__tasks.append(tableTask)
+
+        waiters = self.getWaiters()
+        for waiter in waiters:
+            # new thread controlling waiter
+            waiterTask = WaiterManager(self, [waiter], self.__kitchenManager, menuManager, tableTask)
+            self.__tasks.append(waiterTask)
+
+        for task in self.__tasks:
+            task.start()
+
+    def stop(self):
+        for task in self.__tasks:
+            task.stop()
 
     # adds drawable objects to the collection
     def add(self, drawable):
@@ -52,6 +79,10 @@ class DrawableCollection:
                 break
         return isPositionAvailable
 
+    # deletes all tables
+    def delTables(self):
+        self.__drawables = [drawable for drawable in  self.__drawables if not isinstance(drawable, Table)]
+
     # gets all tables by status from collection
     def getTables(self, status):
         result = []
@@ -61,11 +92,10 @@ class DrawableCollection:
         return result
 
     def get_kitchen(self):
-        kitchen = None
         for item in self.__drawables:
             if isinstance(item, Kitchen):
-                kitchen = item
+                return item
-        return kitchen
+        return None
 
     def lock(self):
         self.__waiterLock.acquire()
@@ -101,8 +131,8 @@ class DrawableCollection:
         nearestTables = []
         tables = self.getTables(tableStatus)
         for table in tables:
-            if (table.getX() == waiter.getX() and abs(table.getY() - waiter.getY()) == 1) or \
+            if (table.getX() == waiter.getX() and abs(table.getY() - waiter.getY()) == 1) or\
-                    (table.getY() == waiter.getY() and abs(table.getX() - waiter.getX()) == 1):
+               (table.getY() == waiter.getY() and abs(table.getX() - waiter.getX()) == 1):
                 nearestTables.append(table)
         return nearestTables
 

kelner/src/managers/ImageCache.py

@@ -23,6 +23,7 @@ class Images(Enum):
     ToolTip = 16
     Kitchen = 17
     Dishes = 18
+    Chicken = 19
 
 
 class ImageCache:
@@ -60,7 +61,8 @@ class ImageCache:
                             Images.Guest3:           './images/wiking_rudy2.png',
                             Images.ToolTip:          './images/tooltip.png',
                             Images.Kitchen:           './images/kitchen.png',
-                            Images.Dishes:            './images/testDishes/'
+                            Images.Dishes:            './images/testDishes/',
+                            Images.Chicken:           './images/kurczak.png'
                             }
 
     def __getFont(self):

kelner/src/managers/KitchenManager.py

@@ -6,9 +6,8 @@ import sys
 # creates new thread
 class KitchenManager(threading.Thread):
 
-    def __init__(self, drawable_manager, gridboard):
+    def __init__(self, gridboard):
         super().__init__()
-        self._drawable_manager = drawable_manager
         self._gridboard = gridboard
         self.__runThread = False
 

kelner/src/managers/TableGenerator.py

@@ -0,0 +1,120 @@
+import threading
+from tkinter import messagebox, Tk
+from kelner.src.components.Table import Table
+from kelner.src.algorithms.GATableGenerator.GATableGenerator import GATableGenerator
+from kelner.gui.GAdialog.GADialog import GADialog
+from kelner.gui.GAdialog.GADefaults import GADefaults
+from kelner.gui.chart.Plots import Plots
+
+
+# creates new thread
+class TableGenerator (threading.Thread):
+
+    def __init__(self, gridCols, gridRows, minX, maxX, minY, maxY, cellSize, paintOffset, drawableManager):
+        super().__init__()
+        self.__minX = minX
+        self.__maxX = maxX
+        self.__minY = minY
+        self.__maxY = maxY
+        self.__cellSize = cellSize
+        self.__paintOffset = paintOffset
+        self.__drawableManager = drawableManager
+        self.__runThread = True
+        self.__defaults = GADefaults()
+        self.__defaults.waiterPosition = self.__getDefaultWaiterPosition()
+        self.__defaults.kitchenPosition = self.__getDefaultKitchenPosition()
+        self.__gaTableGenerator = GATableGenerator(gridCols, gridRows, self.__defaults)
+
+    def __getDefaultWaiterPosition(self):
+        waiters = self.__drawableManager.getWaiters()
+        if waiters:
+            return waiters[0].getX(), waiters[0].getY()
+        return None
+
+    def __getDefaultKitchenPosition(self):
+        kitchen = self.__drawableManager.get_kitchen()
+        if kitchen is not None:
+            return kitchen.getX(), kitchen.getY()
+        return None
+
+    def __randomTables(self):
+        # initialize a number of tables given in range
+        for i in range(0, 40):
+            table = Table(self.__minX, self.__maxX, self.__minY, self.__maxY, self.__cellSize, self.__paintOffset)
+            if self.__drawableManager.generatePosition(table):
+                self.__drawableManager.add(table)
+
+    def __geneticTables(self):
+        bestIndividual = self.__gaTableGenerator.getBestIndividual()
+        for row in range(self.__gaTableGenerator.gridRows):
+            for col in range(self.__gaTableGenerator.gridCols):
+                if bestIndividual.getTables()[row][col] == 1 and \
+                        (row != self.__defaults.kitchenPosition[1] or col != self.__defaults.kitchenPosition[0]):
+                    table = Table(0, self.__gaTableGenerator.gridCols - 1, 0, self.__gaTableGenerator.gridRows - 1, self.__cellSize, self.__paintOffset)
+                    table.setX(col)
+                    table.setY(row)
+                    self.__drawableManager.add(table)
+
+    def __askIfGA(self):
+        window = Tk()
+        window.attributes('-topmost', 'true')
+        window.wm_withdraw()
+        result = messagebox.askquestion("Rodzaj algorytmu", "Czy uruchomić algorytm genetyczny?", parent=window)
+        window.destroy()
+        return result == 'yes'
+
+    def __ask(self, info):
+        window = Tk()
+        window.attributes('-topmost', 'true')
+        window.wm_withdraw()
+        result = messagebox.askquestion(info + '\n', "Czy nowa generacja?", parent=window)
+        window.destroy()
+        return result == 'yes'
+
+    def __askIfAgain(self):
+        window = Tk()
+        window.attributes('-topmost', 'true')
+        window.wm_withdraw()
+        result = messagebox.askquestion("Potwierdź", "Czy powtórzyć proces?", parent=window)
+        window.destroy()
+        return result == 'yes'
+
+    def __plot(self):
+        plot = Plots(self.__gaTableGenerator.currentGenerationNumber,
+                     self.__gaTableGenerator.bestFitnessScores, self.__gaTableGenerator.bestTables,
+                     self.__gaTableGenerator.worstFitnessScores, self.__gaTableGenerator.worstTables,
+                     self.__defaults.getInfo())
+        plot.draw()
+
+    def run(self):
+        if self.__askIfGA():
+            while self.__runThread:
+                again = True
+                GADialog(self.__defaults)
+                self.__gaTableGenerator.firstPopulation()
+                while again:
+                    self.__drawableManager.delTables()
+                    self.__geneticTables()
+                    self.__drawableManager.forceRepaint()
+                    if self.__gaTableGenerator.canGenerate():
+                        if self.__gaTableGenerator.currentGenerationNumber % self.__defaults.runInfoFold != 0 or\
+                                self.__ask(self.__gaTableGenerator.getBestIndividual().getInfo(self.__gaTableGenerator.currentGenerationNumber)):
+                            self.__gaTableGenerator.makeNextGeneration()
+                        else:
+                            self.__drawableManager.start()
+                            self.stop()
+                            again = False
+                            self.__plot()
+                    else:
+                        self.__plot()
+                        if not self.__askIfAgain():
+                            self.__drawableManager.start()
+                            self.stop()
+                        again = False
+        else:
+            self.__randomTables()
+            self.__drawableManager.forceRepaint()
+            self.__drawableManager.start()
+
+    def stop(self):
+        self.__runThread = False

kelner/src/managers/WaiterManager.py

@@ -1,6 +1,7 @@
 import threading
 import time
 import sys
+from math import sqrt
 from kelner.src.components.Table import Status
 from kelner.src.algorithms.AStar.Finder import Finder
 from kelner.src.algorithms.BFS.BFS import BFS
@@ -20,43 +21,65 @@ class WaiterManager(threading.Thread):
         self._menu_manager = menu_manager
         self._table_manager = table_manager
 
-    def __getNearestTargetPath(self, waiter, target):
+    def __getDistance(self, waiter, tupleXY):
-        distance = sys.maxsize
+        dx = waiter.getX() - tupleXY[0]
-        nearestTargetPath = None
+        dy = waiter.getY() - tupleXY[1]
-        reservedPlaces = self.__drawableManager.getReservedPlaces(waiter)
+        return sqrt(dx * dx + dy * dy)
+
+    def __sortTargets(self, waiter, targets):
+        return sorted(targets, key=lambda target: self.__getDistance(waiter, (target[0], target[1])))
+
+    def __getTargets(self, waiter, finder):
+        found = []
         tables = self.__drawableManager.getTables(Status.Ready)
-        finder = Finder(reservedPlaces)
-        origin = (waiter.getX(), waiter.getY())
-        if target == 'kitchen':
-            path = finder.getPath(origin, (14, 1), True)
-            path2 = finder.getPath(origin, (13, 0), True)
-            path = path2 if len(path) > len(path2) else path
-            return path
         if tables:
+            origin = (waiter.getX(), waiter.getY())
             for table in tables:
                 if table.hasOrder():
                     targets = finder.getNeighbours((table.getX(), table.getY()), False)
                     for target in targets:
-                        if target is not None:
+                        if target == origin:
-                            path = finder.getPath(origin, target, True)
+                            return []
-                            if path:
+                        else:
-                                result = len(path)
+                            found.append(target)
-                                if result < distance:
+        return self.__sortTargets(waiter, found)
-                                    distance = result
+
-                                    nearestTargetPath = path
+    def __getNearestTargetPath(self, waiter, targets=None):
+        distance = sys.maxsize
+        nearestTargetPath = None
+        reservedPlaces = self.__drawableManager.getReservedPlaces(waiter)
+        finder = Finder(reservedPlaces)
+        origin = (waiter.getX(), waiter.getY())
+        if targets is None:
+            targets = self.__getTargets(waiter, finder)
+        for target in targets:
+            if distance > self.__getDistance(waiter, target):
+                path = finder.getPath(origin, target, True)
+                if path:
+                    result = len(path)
+                    if result < distance:
+                        distance = result
+                        nearestTargetPath = path
 
         return nearestTargetPath
 
     def get_specified_path(self, waiter, table):
+        distance = sys.maxsize
+        nearestTargetPath = None
         reserved_places = self.__drawableManager.getReservedPlaces(waiter)
         finder = Finder(reserved_places)
         origin = (waiter.getX(), waiter.getY())
         targets = finder.getNeighbours((table[0], table[1]), False)
         for target in targets:
-            if target is not None:
+            if distance > self.__getDistance(waiter, target):
                 path = finder.getPath(origin, target, True)
                 if path:
-                    return path
+                    result = len(path)
+                    if result < distance:
+                        distance = result
+                        nearestTargetPath = path
+
+        return nearestTargetPath
 
     def __changeWaiterDirection(self, waiter, x, y):
         targetDirection = x - waiter.getX(), y - waiter.getY()
@@ -172,13 +195,14 @@ class WaiterManager(threading.Thread):
 
                     if len(waiter.getAcceptedOrders()) > 1:
                         waiter.set_target('kitchen')
-                        path = self.__getNearestTargetPath(waiter, target=waiter.get_target())
+                        path = self.__getNearestTargetPath(waiter, [(14, 1), (13, 0)])
                         waiter.make_busy()
                     else:
                         if waiter.get_target() == 'return_order' and waiter.isPathEmpty():
                             print("Order returned")
                             table = self._table_manager.get_table(waiter.get_remaining_positions()[0])
                             table.setStatus(Status.Served)
+                            self.__changeWaiterDirection(waiter, table.getX(), table.getY())
                             waiter.get_remaining_positions().pop(0)
                             time.sleep(2)
 
@@ -187,7 +211,7 @@ class WaiterManager(threading.Thread):
                             path = self.get_specified_path(waiter, waiter.get_remaining_positions()[0])
                         else:
                             waiter.set_target('table')
-                            path = self.__getNearestTargetPath(waiter, target='table')
+                            path = self.__getNearestTargetPath(waiter)
 
                     waiter.setPath([] if path is None else path)
 
@@ -201,6 +225,7 @@ class WaiterManager(threading.Thread):
                         if waiter.get_target() == 'kitchen':
                             self._table_manager.pause()
                             kitchen = self.__drawableManager.get_kitchen()
+                            self.__changeWaiterDirection(waiter, kitchen.getX(), kitchen.getY())
                             waiter_orders = waiter.getAcceptedOrders()
                             # print("Waiter near kitchen. Collected orders: {}".format(waiter_orders))
                             kitchen.add_orders(waiter_orders)