Dodanie obszaru będącego chłodnią, zmiana atrybutów regałów i paczek, mają teraz odpowiednio określoną pojemność(losowaną z zakresu), oraz rozmiar.
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andrzej
parent
e54769abdd
commit
2cee412170
24
agent.py
24
agent.py
@ -1,7 +1,7 @@
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from warehouse import Coordinates, Tile, Pack
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from queue import PriorityQueue
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from math import sqrt
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from attributes import TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS, PackStatus, PackSize
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from attributes import TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS, PackStatus
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import pygame
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import sys
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@ -89,7 +89,16 @@ class Agent:
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def heuristic(self, start: Node, goal: Node):
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diff_x = pow(goal.x - start.x, 2)
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diff_y = pow(goal.y - start.y, 2)
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return round(sqrt(diff_x + diff_y), 3)
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additional_cost = 0
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# if diff_x < diff_y:
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# column = self.warehouse.tiles[start.x]
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# tiles = column[goal.y:start.y] if goal.y < start.y else column[start.y:goal.y]
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# additional_cost += len([t for t in tiles if not t.category.passable])
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# elif diff_x > diff_y:
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# row = [col[start.x] for col in self.warehouse.tiles]
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# tiles = row[goal.x:start.x] if goal.x < start.x else row[start.x:goal.x]
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# additional_cost += len([t for t in tiles if not t.category.passable])
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return round(sqrt(diff_x + diff_y), 3) + float(10*additional_cost)
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def check_if_open(self, node: Node):
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return (node.x, node.y) in [(n.x, n.y) for (_,n) in self.open.queue]
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@ -183,7 +192,6 @@ class Agent:
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def find_nearest_rack_for(self, package, expand_box=0):
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weight = package.size
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accepted_weights = [weight, PackSize.ALL]
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start_node = Node(self.x, self.y)
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quarter_x = int(self.warehouse.width/4) + expand_box
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quarter_y = int(self.warehouse.height/4) + expand_box
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@ -192,7 +200,7 @@ class Agent:
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start_quarter_y = self.y - quarter_y if self.y - quarter_y > 0 else 0
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end_quarter_y = self.y + quarter_y if self.y + quarter_y < self.warehouse.height else self.warehouse.height - 1
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quarter = [row[start_quarter_y:end_quarter_y] for row in self.warehouse.tiles[start_quarter_x:end_quarter_x]]
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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]
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quarter_racks = [[t for t in row if t.category.name in self.warehouse.storage_types and t.capacity >= weight] for row in quarter]
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quarter_racks = [t for row in quarter_racks for t in row]
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racks_costs = []
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for rack in quarter_racks:
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@ -208,7 +216,9 @@ class Agent:
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def pick_up_package(self, pack):
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self.warehouse.packages.remove(pack)
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self.is_loaded = True
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self.warehouse.tiles[pack.lays_on_field.x_position][pack.lays_on_field.y_position].occupied = False
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if pack.lays_on_field.category.name in ['Rack', 'Fridge']:
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pack.lays_on_field.capacity += pack.size
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self.dest.package = None
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pack.lays_on_field = None
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self.transported_package = pack
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@ -219,6 +229,6 @@ class Agent:
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self.transported_package = None
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self.is_loaded = False
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pack.lays_on_field = tile
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self.warehouse.tiles[rack.x][rack.y].occupied = True
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pack.lays_on_field.capacity -= pack.size
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pack.status = PackStatus.STORED
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self.warehouse.packages.append(pack)
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self.warehouse.packages.append(pack)
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@ -1,11 +1,5 @@
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from enum import Enum
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class PackSize(Enum):
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ALL = 0
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SMALL = 1
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MEDIUM = 2
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LARGE = 3
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HUGE = 4
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class PackStatus(Enum):
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LOOSE = 0
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@ -25,7 +19,8 @@ COLORS = {
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'yellow': (235, 235, 0),
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'lightgreen': (70, 238, 70),
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'red': (255, 0, 0),
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'lightblue': (135, 206, 250),
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'lightblue': (120, 180, 230),
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'iceblue': (186,242,239),
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'orange': (255, 165, 0)
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}
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19
main.py
19
main.py
@ -3,14 +3,16 @@ import warehouse
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import agent
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import random
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import sys
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from attributes import PackSize, PackStatus, COLORS, DIRECTION_ANGLES
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from attributes import PackStatus, COLORS, DIRECTION_ANGLES
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WINDOW_SIZE = (640, 640)
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COLOR_OF_FIELD = {
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'Floor': 'gray',
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'Rack': 'white',
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'Pack': 'yellow',
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'path': 'orange'
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'path': 'orange',
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'FridgeFloor': 'lightblue',
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'Fridge': 'iceblue'
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}
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TILE_WIDTH = 32
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TILE_HEIGHT = 32
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@ -18,9 +20,12 @@ CIRCLE_CENTER_X, CIRCLE_CENTER_Y = int(TILE_WIDTH/2), int(TILE_HEIGHT/2)
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class MainGameFrame:
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def __init__(self):
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pygame.font.init()
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self.display = pygame.display.set_mode(WINDOW_SIZE)
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pygame.display.set_caption("Smart ForkLift")
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agent_radius = int(TILE_WIDTH/2)
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self.agent_tex = pygame.image.load('forklift.png')
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self.font = pygame.font.Font('freesansbold.ttf', 16)
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self.warehouse_map = warehouse.Warehouse(20, 20, 150, 40)
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starting_x, starting_y = self.set_starting_agent_position()
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self.agent = agent.Agent(starting_x, starting_y, self.warehouse_map, agent_radius)
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@ -35,6 +40,7 @@ class MainGameFrame:
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self.draw_floor()
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self.draw_packages()
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self.draw_agent()
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self.draw_nums()
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self.agent.move()
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pygame.display.update()
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self.clock.tick(8)
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@ -52,8 +58,6 @@ class MainGameFrame:
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def draw_field(self, x, y):
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current_tile = self.warehouse_map.tiles[x][y]
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# if not isinstance(current_tile, warehouse.Tile):
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# current_tile = current_tile.lays_on_field if isinstance(current_tile, warehouse.Pack) else None
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color = COLOR_OF_FIELD.get(current_tile.category.name, 'white')
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color = COLORS[color]
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if (current_tile.x_position,current_tile.y_position) in [(a.x, a.y) for a in self.agent.path]:
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@ -78,6 +82,13 @@ class MainGameFrame:
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pygame.draw.rect(self.display, package_color,
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((pack_x * TILE_WIDTH) + 3, (pack_y * TILE_HEIGHT) + 3, TILE_WIDTH - 5, TILE_HEIGHT - 5))
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def draw_nums(self):
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for row in self.warehouse_map.tiles:
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for cell in row:
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if cell.category.name in self.warehouse_map.storage_types:
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text_surface = self.font.render(str(cell.capacity), True, (0, 0, 0))
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self.display.blit(text_surface, ((cell.x_position * TILE_WIDTH) + 1, (cell.y_position * TILE_HEIGHT) + 6))
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def draw_agent(self):
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rotated = pygame.transform.rotate(self.agent_tex, DIRECTION_ANGLES.get(self.agent.direction))
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self.display.blit(rotated, (self.agent.x*TILE_WIDTH, self.agent.y*TILE_WIDTH))
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57
warehouse.py
57
warehouse.py
@ -1,4 +1,4 @@
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from attributes import PackSize, PackStatus
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from attributes import PackStatus
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import random
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import queue
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from collections import namedtuple
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@ -7,18 +7,17 @@ import itertools
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Coordinates = namedtuple("Coordinates",'x y')
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class CategoryData:
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def __init__(self, name, passable=False, can_store=True, location='general', pack_size=PackSize.ALL):
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def __init__(self, name, passable=False, can_store=True, location='general'):
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self.name = name
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self.passable = passable
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self.can_store = can_store
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self.location = location
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self.pack_size = pack_size
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def __repr__(self):
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return self.name
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class Pack:
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def __init__(self, size=PackSize.MEDIUM, categ='general', lays_on_field=None):
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def __init__(self, size=5, categ='general', lays_on_field=None):
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self.size = size
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self.category = categ
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assert isinstance(lays_on_field, Tile), AssertionError("Attribute lays_on_field must be a Tile object! You know, package cannot lay in void :)")
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@ -27,16 +26,17 @@ class Pack:
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def set_status(self):
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status = PackStatus.LOOSE
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if self.lays_on_field.category.name == 'Floor':
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if self.lays_on_field.category.name in ['Floor', 'FridgeFloor']:
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status = PackStatus.LOOSE
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elif self.lays_on_field.category.name == 'Rack':
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elif self.lays_on_field.category.name in ['Rack', 'Fridge']:
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status = PackStatus.STORED
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return status
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CATEGORY = {
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'floor': CategoryData('Floor', True, False), #lava
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'rack': CategoryData('Rack', False, True),
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# 'freezer': CategoryData('Freezer', False, True, location='cold_room')
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'fridge_floor': CategoryData('FridgeFloor', True, False, location='cold_room'),
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'fridge': CategoryData('Fridge', False, True, location='cold_room')
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}
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@ -46,9 +46,11 @@ class Warehouse:
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self.height = length
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self.tiles = self.generate_map()
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self.no_of_racks = no_of_racks
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self.storage_types = ["Rack", "Fridge"]
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self.no_of_packages = no_of_packages
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self.generate_racks()
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self.open_isolated_areas()
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self.create_fridge(10)
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self.packages = self.place_packages(no_of_packages)
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self.tiles[1][1] = Tile('floor', 1, 1)
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def __str__(self):
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@ -68,7 +70,7 @@ class Warehouse:
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node_x, node_y = random.randrange(1, self.width-1), random.randrange(1, self.height-1)
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node = self.tiles[node_x][node_y]
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next_node = None
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self.tiles[node_x][node_y] = Tile('rack', node_x, node_y)
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self.tiles[node_x][node_y] = Tile('rack', node_x, node_y, capacity=random.randrange(16, 20))
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q.put(node)
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while not q.empty():
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if next_node is not None:
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@ -92,6 +94,37 @@ class Warehouse:
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node_y = next_node.y_position
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self.tiles[node_x][node_y] = Tile('rack', node_x, node_y)
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def create_fridge(self, size):
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x_corner = random.choice(['left', 'right'])
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y_corner = random.choice(['top', 'bottom'])
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start_x = None
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start_y = None
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end_x = None
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end_y = None
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if x_corner == 'left':
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start_x = 0
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end_x = size
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else:
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# import pdb
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# pdb.set_trace()
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start_x = (self.width-1) - size
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end_x = self.width - 1
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if y_corner == 'top':
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start_y = 0
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end_y = size
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else:
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start_y = (self.height-1) - size
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end_y = self.height - 1
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rows = self.tiles[start_x:end_x].copy()
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for num, row in enumerate(rows, start_x):
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for index, tile in enumerate(row[start_y:end_y], start_y):
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if self.tiles[num][index].category.name == "Floor":
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self.tiles[num][index] = Tile('fridge_floor', num, index)
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else:
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self.tiles[num][index] = Tile('fridge', num, index, capacity=random.randrange(10, 12))
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def get_not_rack_nodes(self, node_x, node_y):
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adjacent_tiles = self.get_adjacent_tiles(node_x, node_y)
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possible_nodes = [line for line in adjacent_tiles if line.category.name != "Rack"]
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@ -161,8 +194,10 @@ class Warehouse:
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for i in range(no_of_packages):
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pack_x, pack_y = self._set_package_position()
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package_field = self.tiles[pack_x][pack_y]
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self.tiles[pack_x][pack_y].occupied = True
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new_package = Pack(lays_on_field=package_field)
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new_package.size = random.randrange(1, 10)
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if package_field.category.name in self.storage_types:
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package_field.capacity -= new_package.size
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packages.append(new_package)
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return packages
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def _set_package_position(self):
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@ -203,11 +238,11 @@ class Warehouse:
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return wall
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class Tile:
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def __init__(self, category, x_position, y_position):
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def __init__(self, category, x_position, y_position, capacity=10):
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self.category = CATEGORY.get(category, CATEGORY['floor'])
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self.x_position = x_position
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self.y_position = y_position
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self.occupied = False
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self.capacity = capacity
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def __str__(self):
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