Dodanie szukania najbliższej paczki, szukania najbliższego regału pasującego do paczki, i ładowania i odkładania paczki na miejsce
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andrzej
parent
b29f027943
commit
7606871afb
88
agent.py
88
agent.py
@ -1,13 +1,16 @@
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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, PackSize
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import pdb
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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 +41,20 @@ 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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@ -98,13 +109,21 @@ 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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print("chuj")
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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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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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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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@ -133,17 +152,70 @@ class Agent:
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self.path.append(next)
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self.closed = []
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def check_if_can_move(self, next_coords: Coordinates):
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def check_if_can_move(self, next_coords: Coordinates, rack_searching=False):
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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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tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
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if not self.is_loaded:
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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
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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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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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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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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 == "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 row in quarter_racks for t in row]
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racks_costs = []
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if not quarter_racks:
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self.find_nearest_rack_for(package, expand_box+1)
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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 = 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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self.warehouse.tiles[pack.lays_on_field.x_position][pack.lays_on_field.y_position].occupied = False
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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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self.warehouse.tiles[rack.x][rack.y].occupied = True
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pack.status = PackStatus.STORED
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self.warehouse.packages.append(pack)
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2
main.py
2
main.py
@ -21,7 +21,7 @@ class MainGameFrame:
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self.display = pygame.display.set_mode(WINDOW_SIZE)
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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.warehouse_map = warehouse.Warehouse(20, 20, 150, 20)
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self.warehouse_map = warehouse.Warehouse(20, 20, 150, 25)
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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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self.clock = pygame.time.Clock()
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@ -161,6 +161,7 @@ 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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packages.append(new_package)
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return packages
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@ -206,6 +207,7 @@ class Tile:
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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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def __str__(self):
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