Merge branch 'master' of https://git.wmi.amu.edu.pl/s444360/SI_2020
This commit is contained in:
magdabiadala
commit
45136dcea0
103
agent.py
103
agent.py
@ -1,13 +1,17 @@
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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
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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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class Node:
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def __init__(self, coord_x, coord_y):
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def __init__(self, coord_x, coord_y, package=None, is_rack=False):
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self.x = coord_x
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self.y = coord_y
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self.parent = None
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self.package = package
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self.is_rack = is_rack
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self.g_cost = 0
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self.h_cost = 0
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def __eq__(self, other):
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@ -38,12 +42,20 @@ class Agent:
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def find_path(self):
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self.closed = []
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self.path = []
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self.open = PriorityQueue()
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if self.is_loaded:
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rack = self.find_nearest_rack_for(self.transported_package)
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self.dest = Node(rack.x_position, rack.y_position, is_rack=True)
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else:
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package = self.find_nearest_package()
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self.dest = Node(package.lays_on_field.x_position, package.lays_on_field.y_position, package=package)
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start_node = Node(self.x, self.y)
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self.open.put((0, start_node))
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while self.open:
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_, current_node = self.open.get()
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print(current_node.x, current_node.y)
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self.closed.append(current_node)
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if current_node.x == self.dest.x and current_node.y == self.dest.y:
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while current_node.x != start_node.x or current_node.y != start_node.y:
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@ -77,7 +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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@ -98,13 +119,13 @@ class Agent:
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return neighbours
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def move(self):
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dest_coords = (self.dest.x, self.dest.y)
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if not self.path:
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if not self.find_path():
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return
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else:
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next = self.path.pop()
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star_dir = self.direction
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print(next.x, next.y)
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if self.x > next.x and not self.direction == 'left':
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if self.direction == 'down':
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self.turn_right()
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@ -126,6 +147,14 @@ class Agent:
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else:
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self.turn_left()
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if (next.x, next.y) == dest_coords:
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if self.dest.package:
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self.pick_up_package(self.dest.package)
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return
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elif self.dest.is_rack:
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self.unload_package(self.dest)
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return
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if star_dir == self.direction:
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self.x = next.x
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self.y = next.y
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@ -135,15 +164,75 @@ class Agent:
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def check_if_can_move(self, next_coords: Coordinates):
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tile_on_map = 0 <= next_coords.x < self.warehouse.width and 0 <= next_coords.y < self.warehouse.height
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tile_passable = True
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if not tile_on_map:
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return False
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next_tile = self.warehouse.tiles[next_coords.x][next_coords.y]
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if not self.is_loaded or (next_coords.x, next_coords.y) != (self.dest.x, self.dest.y):
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tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
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return tile_passable
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def find_nearest_package(self):
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packages_costs = []
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start_node = Node(self.x, self.y)
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if not self.warehouse.packages:
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return None
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for package in self.warehouse.packages:
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if package.status == PackStatus.STORED:
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continue
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new_node = Node(package.lays_on_field.x_position, package.lays_on_field.y_position)
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cost = self.heuristic(start_node, new_node)
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if cost > 0:
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packages_costs.append((package, cost))
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if not packages_costs:
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return
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# pygame.quit()
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# sys.exit()
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package = min(packages_costs, key=lambda l: l[1])[0]
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return package
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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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storage = "Rack"
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if package.category == "freezed":
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storage = "Fridge"
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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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start_quarter_x = self.x - quarter_x if self.x - quarter_x > 0 else 0
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end_quarter_x = self.x + quarter_x if self.x + quarter_x < self.warehouse.width else self.warehouse.width - 1
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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 == storage 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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new_node = Node(rack.x_position, rack.y_position)
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cost = self.heuristic(start_node, new_node)
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if cost > 0:
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racks_costs.append((rack, cost))
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rack = self.find_nearest_rack_for(package, expand_box + 1) if not racks_costs else min(racks_costs, key=lambda l: l[1])[0]
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return rack
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def pick_up_package(self, pack):
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tile = pack.lays_on_field
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self.assigned_warehouse.tiles[tile.x_position][tile.y_position] = tile
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self.warehouse.packages.remove(pack)
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self.is_loaded = True
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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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def unload_package(self, rack):
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pack = self.transported_package
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tile = self.warehouse.tiles[rack.x][rack.y]
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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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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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@ -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 +19,9 @@ 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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'blue': (0, 0, 255),
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'orange': (255, 165, 0)
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}
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24
main.py
24
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, 20)
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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(5)
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@ -43,7 +49,6 @@ class MainGameFrame:
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for x in range(self.warehouse_map.width):
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for y in range(self.warehouse_map.height):
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self.draw_field(x, y)
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self.draw_target(1, 1)
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def draw_target(self, x, y):
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target_screen_position = (
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@ -52,8 +57,6 @@ 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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@ -77,6 +80,17 @@ class MainGameFrame:
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package_color = get_package_color(pack)
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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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if pack.category == "freezed":
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pygame.draw.rect(self.display, COLORS['blue'],
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((pack_x * TILE_WIDTH) + 2, (pack_y * TILE_HEIGHT) + 2, TILE_WIDTH - 4,
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TILE_HEIGHT - 4), 3)
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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) + 6, (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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74
warehouse.py
74
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 +26,20 @@ 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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if self.category == 'freezed' and self.lays_on_field.category.name != 'Fridge':
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status = PackStatus.STORED_BAD_LOCATION
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else:
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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 +49,11 @@ 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 +73,7 @@ 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 +97,37 @@ 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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@ -155,18 +191,27 @@ class Warehouse:
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racks.append(y)
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return racks
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def place_packages(self, no_of_packages):
|
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def place_packages(self, no_of_packages: int):
|
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packages = []
|
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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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new_package_size = random.randrange(1, 10)
|
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pack_x, pack_y = self._set_package_position(new_package_size)
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package_field = self.tiles[pack_x][pack_y]
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new_package = Pack(lays_on_field=package_field)
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categ_seed = random.random()
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if categ_seed > 0.8:
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new_package.category = "freezed"
|
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# new_package.set_status()
|
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new_package.size = new_package_size
|
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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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|
||||
def _set_package_position(self, pack_size: int):
|
||||
starting_x, starting_y = random.randrange(self.width), random.randrange(self.height)
|
||||
while not isinstance(self.tiles[starting_x][starting_y], Tile):
|
||||
while not isinstance(self.tiles[starting_x][starting_y], Tile) \
|
||||
and self.tiles[starting_x][starting_y].size - pack_size < 0:
|
||||
starting_x, starting_y = random.randrange(self.width), random.randrange(
|
||||
self.height)
|
||||
return starting_x, starting_y
|
||||
@ -202,10 +247,11 @@ 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.capacity = capacity
|
||||
|
||||
|
||||
def __str__(self):
|
||||
|
||||
Loading…
Reference in New Issue
Block a user