Merge branch 'szukanie_paczek'

This commit is contained in:
andrzej 2020-05-07 17:40:32 +02:00
commit 0e0f15a86e
4 changed files with 113 additions and 47 deletions

View File

@ -1,8 +1,7 @@
from warehouse import Coordinates, Tile, Pack
from queue import PriorityQueue
from math import sqrt
from attributes import TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS, PackStatus, PackSize
import pdb
from attributes import TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS, PackStatus
import pygame
import sys
@ -90,7 +89,16 @@ class Agent:
def heuristic(self, start: Node, goal: Node):
diff_x = pow(goal.x - start.x, 2)
diff_y = pow(goal.y - start.y, 2)
return round(sqrt(diff_x + diff_y), 3)
additional_cost = 0
# if diff_x < diff_y:
# column = self.warehouse.tiles[start.x]
# tiles = column[goal.y:start.y] if goal.y < start.y else column[start.y:goal.y]
# additional_cost += len([t for t in tiles if not t.category.passable])
# elif diff_x > diff_y:
# row = [col[start.x] for col in self.warehouse.tiles]
# tiles = row[goal.x:start.x] if goal.x < start.x else row[start.x:goal.x]
# additional_cost += len([t for t in tiles if not t.category.passable])
return round(sqrt(diff_x + diff_y), 3) + float(10*additional_cost)
def check_if_open(self, node: Node):
return (node.x, node.y) in [(n.x, n.y) for (_,n) in self.open.queue]
@ -117,13 +125,6 @@ class Agent:
return
else:
next = self.path.pop()
if (next.x, next.y) == dest_coords:
if self.dest.package:
self.pick_up_package(self.dest.package)
return
elif self.dest.is_rack:
self.unload_package(self.dest)
return
star_dir = self.direction
if self.x > next.x and not self.direction == 'left':
if self.direction == 'down':
@ -145,7 +146,15 @@ class Agent:
self.turn_right()
else:
self.turn_left()
if (next.x, next.y) == dest_coords:
if self.dest.package:
self.pick_up_package(self.dest.package)
return
elif self.dest.is_rack:
self.unload_package(self.dest)
return
if star_dir == self.direction:
self.x = next.x
self.y = next.y
@ -153,13 +162,13 @@ class Agent:
self.path.append(next)
self.closed = []
def check_if_can_move(self, next_coords: Coordinates, rack_searching=False):
def check_if_can_move(self, next_coords: Coordinates):
tile_on_map = 0 <= next_coords.x < self.warehouse.width and 0 <= next_coords.y < self.warehouse.height
tile_passable = True
if not tile_on_map:
return False
next_tile = self.warehouse.tiles[next_coords.x][next_coords.y]
if not self.is_loaded:
if not self.is_loaded or (next_coords.x, next_coords.y) != (self.dest.x, self.dest.y):
tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
return tile_passable
@ -176,14 +185,17 @@ class Agent:
if cost > 0:
packages_costs.append((package, cost))
if not packages_costs:
pygame.quit()
sys.exit()
return
# pygame.quit()
# sys.exit()
package = min(packages_costs, key=lambda l: l[1])[0]
return package
def find_nearest_rack_for(self, package, expand_box=0):
weight = package.size
accepted_weights = [weight, PackSize.ALL]
storage = "Rack"
if package.category == "freezed":
storage = "Fridge"
start_node = Node(self.x, self.y)
quarter_x = int(self.warehouse.width/4) + expand_box
quarter_y = int(self.warehouse.height/4) + expand_box
@ -192,24 +204,25 @@ class Agent:
start_quarter_y = self.y - quarter_y if self.y - quarter_y > 0 else 0
end_quarter_y = self.y + quarter_y if self.y + quarter_y < self.warehouse.height else self.warehouse.height - 1
quarter = [row[start_quarter_y:end_quarter_y] for row in self.warehouse.tiles[start_quarter_x:end_quarter_x]]
quarter_racks = [[t for t in row if t.category.name == "Rack" and not t.occupied and t.category.pack_size in accepted_weights] for row in quarter]
quarter_racks = [[t for t in row if t.category.name == storage and t.capacity >= weight] for row in quarter]
quarter_racks = [t for row in quarter_racks for t in row]
racks_costs = []
if not quarter_racks:
self.find_nearest_rack_for(package, expand_box+1)
for rack in quarter_racks:
new_node = Node(rack.x_position, rack.y_position)
cost = self.heuristic(start_node, new_node)
if cost > 0:
racks_costs.append((rack, cost))
rack = min(racks_costs, key=lambda l: l[1])[0]
rack = self.find_nearest_rack_for(package, expand_box + 1) if not racks_costs else min(racks_costs, key=lambda l: l[1])[0]
return rack
def pick_up_package(self, pack):
self.warehouse.packages.remove(pack)
self.is_loaded = True
self.warehouse.tiles[pack.lays_on_field.x_position][pack.lays_on_field.y_position].occupied = False
if pack.lays_on_field.category.name in ['Rack', 'Fridge']:
pack.lays_on_field.capacity += pack.size
self.dest.package = None
pack.lays_on_field = None
self.transported_package = pack
@ -220,6 +233,6 @@ class Agent:
self.transported_package = None
self.is_loaded = False
pack.lays_on_field = tile
self.warehouse.tiles[rack.x][rack.y].occupied = True
pack.lays_on_field.capacity -= pack.size
pack.status = PackStatus.STORED
self.warehouse.packages.append(pack)
self.warehouse.packages.append(pack)

View File

@ -1,11 +1,5 @@
from enum import Enum
class PackSize(Enum):
ALL = 0
SMALL = 1
MEDIUM = 2
LARGE = 3
HUGE = 4
class PackStatus(Enum):
LOOSE = 0
@ -25,7 +19,9 @@ COLORS = {
'yellow': (235, 235, 0),
'lightgreen': (70, 238, 70),
'red': (255, 0, 0),
'lightblue': (135, 206, 250),
'lightblue': (120, 180, 230),
'iceblue': (186, 242, 239),
'blue': (0, 0, 255),
'orange': (255, 165, 0)
}

25
main.py
View File

@ -3,14 +3,16 @@ import warehouse
import agent
import random
import sys
from attributes import PackSize, PackStatus, COLORS, DIRECTION_ANGLES
from attributes import PackStatus, COLORS, DIRECTION_ANGLES
WINDOW_SIZE = (640, 640)
COLOR_OF_FIELD = {
'Floor': 'gray',
'Rack': 'white',
'Pack': 'yellow',
'path': 'orange'
'path': 'orange',
'FridgeFloor': 'lightblue',
'Fridge': 'iceblue'
}
TILE_WIDTH = 32
TILE_HEIGHT = 32
@ -18,10 +20,13 @@ CIRCLE_CENTER_X, CIRCLE_CENTER_Y = int(TILE_WIDTH/2), int(TILE_HEIGHT/2)
class MainGameFrame:
def __init__(self):
pygame.font.init()
self.display = pygame.display.set_mode(WINDOW_SIZE)
pygame.display.set_caption("Smart ForkLift")
agent_radius = int(TILE_WIDTH/2)
self.agent_tex = pygame.image.load('forklift.png')
self.warehouse_map = warehouse.Warehouse(20, 20, 150, 10)
self.font = pygame.font.Font('freesansbold.ttf', 16)
self.warehouse_map = warehouse.Warehouse(20, 20, 150, 20)
starting_x, starting_y = self.set_starting_agent_position()
self.agent = agent.Agent(starting_x, starting_y, self.warehouse_map, agent_radius)
self.clock = pygame.time.Clock()
@ -35,6 +40,7 @@ class MainGameFrame:
self.draw_floor()
self.draw_packages()
self.draw_agent()
self.draw_nums()
self.agent.move()
pygame.display.update()
self.clock.tick(5)
@ -52,8 +58,6 @@ class MainGameFrame:
def draw_field(self, x, y):
current_tile = self.warehouse_map.tiles[x][y]
# if not isinstance(current_tile, warehouse.Tile):
# current_tile = current_tile.lays_on_field if isinstance(current_tile, warehouse.Pack) else None
color = COLOR_OF_FIELD.get(current_tile.category.name, 'white')
color = COLORS[color]
if (current_tile.x_position,current_tile.y_position) in [(a.x, a.y) for a in self.agent.path]:
@ -77,6 +81,17 @@ class MainGameFrame:
package_color = get_package_color(pack)
pygame.draw.rect(self.display, package_color,
((pack_x * TILE_WIDTH) + 3, (pack_y * TILE_HEIGHT) + 3, TILE_WIDTH - 5, TILE_HEIGHT - 5))
if pack.category == "freezed":
pygame.draw.rect(self.display, COLORS['blue'],
((pack_x * TILE_WIDTH) + 2, (pack_y * TILE_HEIGHT) + 2, TILE_WIDTH - 4,
TILE_HEIGHT - 4), 3)
def draw_nums(self):
for row in self.warehouse_map.tiles:
for cell in row:
if cell.category.name in self.warehouse_map.storage_types:
text_surface = self.font.render(str(cell.capacity), True, (0, 0, 0))
self.display.blit(text_surface, ((cell.x_position * TILE_WIDTH) + 6, (cell.y_position * TILE_HEIGHT) + 6))
def draw_agent(self):
rotated = pygame.transform.rotate(self.agent_tex, DIRECTION_ANGLES.get(self.agent.direction))

View File

@ -1,4 +1,4 @@
from attributes import PackSize, PackStatus
from attributes import PackStatus
import random
import queue
from collections import namedtuple
@ -7,18 +7,17 @@ import itertools
Coordinates = namedtuple("Coordinates",'x y')
class CategoryData:
def __init__(self, name, passable=False, can_store=True, location='general', pack_size=PackSize.ALL):
def __init__(self, name, passable=False, can_store=True, location='general'):
self.name = name
self.passable = passable
self.can_store = can_store
self.location = location
self.pack_size = pack_size
def __repr__(self):
return self.name
class Pack:
def __init__(self, size=PackSize.MEDIUM, categ='general', lays_on_field=None):
def __init__(self, size=5, categ='general', lays_on_field=None):
self.size = size
self.category = categ
assert isinstance(lays_on_field, Tile), AssertionError("Attribute lays_on_field must be a Tile object! You know, package cannot lay in void :)")
@ -27,16 +26,20 @@ class Pack:
def set_status(self):
status = PackStatus.LOOSE
if self.lays_on_field.category.name == 'Floor':
if self.lays_on_field.category.name in ['Floor', 'FridgeFloor']:
status = PackStatus.LOOSE
elif self.lays_on_field.category.name == 'Rack':
status = PackStatus.STORED
elif self.lays_on_field.category.name in ['Rack', 'Fridge']:
if self.category == 'freezed' and self.lays_on_field.category.name != 'Fridge':
status = PackStatus.STORED_BAD_LOCATION
else:
status = PackStatus.STORED
return status
CATEGORY = {
'floor': CategoryData('Floor', True, False), #lava
'rack': CategoryData('Rack', False, True),
# 'freezer': CategoryData('Freezer', False, True, location='cold_room')
'fridge_floor': CategoryData('FridgeFloor', True, False, location='cold_room'),
'fridge': CategoryData('Fridge', False, True, location='cold_room')
}
@ -46,9 +49,11 @@ class Warehouse:
self.height = length
self.tiles = self.generate_map()
self.no_of_racks = no_of_racks
self.storage_types = ["Rack", "Fridge"]
self.no_of_packages = no_of_packages
self.generate_racks()
self.open_isolated_areas()
self.create_fridge(10)
self.packages = self.place_packages(no_of_packages)
self.tiles[1][1] = Tile('floor', 1, 1)
def __str__(self):
@ -68,7 +73,7 @@ class Warehouse:
node_x, node_y = random.randrange(1, self.width-1), random.randrange(1, self.height-1)
node = self.tiles[node_x][node_y]
next_node = None
self.tiles[node_x][node_y] = Tile('rack', node_x, node_y)
self.tiles[node_x][node_y] = Tile('rack', node_x, node_y, capacity=random.randrange(16, 20))
q.put(node)
while not q.empty():
if next_node is not None:
@ -92,6 +97,37 @@ class Warehouse:
node_y = next_node.y_position
self.tiles[node_x][node_y] = Tile('rack', node_x, node_y)
def create_fridge(self, size):
x_corner = random.choice(['left', 'right'])
y_corner = random.choice(['top', 'bottom'])
start_x = None
start_y = None
end_x = None
end_y = None
if x_corner == 'left':
start_x = 0
end_x = size
else:
# import pdb
# pdb.set_trace()
start_x = (self.width-1) - size
end_x = self.width - 1
if y_corner == 'top':
start_y = 0
end_y = size
else:
start_y = (self.height-1) - size
end_y = self.height - 1
rows = self.tiles[start_x:end_x].copy()
for num, row in enumerate(rows, start_x):
for index, tile in enumerate(row[start_y:end_y], start_y):
if self.tiles[num][index].category.name == "Floor":
self.tiles[num][index] = Tile('fridge_floor', num, index)
else:
self.tiles[num][index] = Tile('fridge', num, index, capacity=random.randrange(10, 12))
def get_not_rack_nodes(self, node_x, node_y):
adjacent_tiles = self.get_adjacent_tiles(node_x, node_y)
possible_nodes = [line for line in adjacent_tiles if line.category.name != "Rack"]
@ -161,8 +197,14 @@ class Warehouse:
for i in range(no_of_packages):
pack_x, pack_y = self._set_package_position()
package_field = self.tiles[pack_x][pack_y]
self.tiles[pack_x][pack_y].occupied = True
new_package = Pack(lays_on_field=package_field)
categ_seed = random.random()
if categ_seed > 0.8:
new_package.category = "freezed"
new_package.set_status()
new_package.size = random.randrange(1, 10)
if package_field.category.name in self.storage_types:
package_field.capacity -= new_package.size
packages.append(new_package)
return packages
def _set_package_position(self):
@ -203,11 +245,11 @@ class Warehouse:
return wall
class Tile:
def __init__(self, category, x_position, y_position):
def __init__(self, category, x_position, y_position, capacity=10):
self.category = CATEGORY.get(category, CATEGORY['floor'])
self.x_position = x_position
self.y_position = y_position
self.occupied = False
self.capacity = capacity
def __str__(self):