SI_2020/agent.py

286 lines
9.9 KiB
Python
Executable File

from pandas.tests.io.json.test_ujson import numpy
from warehouse import Coordinates, Tile, Pack
from queue import PriorityQueue
from math import sqrt, ceil
from attributes import TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS, PackStatus
import pygame
import sys
import pdb
import numpy as np
from package_location_classifier.classifier import PackageLocationClassifier
from genetic_route import genetic_trace_route
class Node:
def __init__(self, coord_x, coord_y, package=None, is_rack=False):
self.x = coord_x
self.y = coord_y
self.parent = None
self.package = package
self.is_rack = is_rack
self.g_cost = 0
self.h_cost = 0
self.graph_map = None
def __eq__(self, other):
if isinstance(other, Node):
return self.x == other.x and self.y == other.y
return False
def __lt__(self, other):
return isinstance(other, Node) and self.g_cost < other.g_cost
def __repr__(self):
return "Node:{}x{}".format(self.x, self.y)
class Agent:
def __init__(self, start_x, start_y, assigned_warehouse, radius=5):
self.x = start_x
self.y = start_y
self.radius = radius
self.warehouse = assigned_warehouse
self.graph_map = np.zeros(((self.warehouse.no_of_packages * 2) + 1, (self.warehouse.no_of_packages * 2) + 1))
self.is_loaded = False
self.transported_package = None
self.direction = "up"
self.closed = list()
self.open = PriorityQueue()
self.path = list()
self.location_classifier = PackageLocationClassifier()
self.check_packages_locations()
self.route = []
self.destination = None
def check_packages_locations(self):
for pack in self.warehouse.packages:
if pack.lays_on_field.category.name in self.warehouse.storage_types:
can_place = self.location_classifier.check_if_can_place(pack, pack.lays_on_field)
pack.status = PackStatus.STORED if (
can_place and pack.lays_on_field.capacity >= 0) else PackStatus.STORED_BAD_LOCATION
def find_path(self, *args, **kwargs):
self.closed = []
self.path = []
self.open = PriorityQueue()
if len(args) != 0:
if len(args) == 1:
start_node = Node(self.x, self.y)
else:
start_node = args[1]
self.destination = args[0]
else:
packages_to_go = [p for p in self.warehouse.packages if p.status != PackStatus.STORED]
if not packages_to_go and not self.transported_package:
return
if self.is_loaded:
print(self.transported_package)
rack = self.find_nearest_rack_for(self.transported_package)
self.destination = Node(rack.x_position, rack.y_position, is_rack=True)
else:
package = self.find_package()
self.destination = Node(package.lays_on_field.x_position, package.lays_on_field.y_position, package=package)
start_node = Node(self.x, self.y)
self.open.put((0, start_node))
while self.open:
_, current_node = self.open.get()
self.closed.append(current_node)
if current_node.x == self.destination.x and current_node.y == self.destination.y:
while current_node.x != start_node.x or current_node.y != start_node.y:
self.path.append(current_node)
current_node = current_node.parent
return True
neighbour_list = self.get_neighbours(current_node)
for neighbour in neighbour_list:
cost = current_node.g_cost + self.heuristic(current_node, neighbour)
if self.check_if_closed(neighbour):
continue
if self.check_if_open(neighbour):
if neighbour.g_cost > cost:
neighbour.g_cost = cost
neighbour.parent = current_node
else:
neighbour.g_cost = cost
neighbour.h_cost = self.heuristic(neighbour, self.destination)
neighbour.parent = current_node
self.open.put((neighbour.g_cost, neighbour))
return False
def turn_left(self):
new_direction = TURN_LEFT_DIRECTIONS.get(self.direction, self.direction)
self.direction = new_direction
def turn_right(self):
new_direction = TURN_RIGHT_DIRECTIONS.get(self.direction, self.direction)
self.direction = new_direction
def heuristic(self, start: Node, goal: Node):
diff_x = pow(goal.x - start.x, 2)
diff_y = pow(goal.y - start.y, 2)
additional_cost = 0
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]
def check_if_closed(self, node: Node):
return (node.x, node.y) in [(n.x, n.y) for n in self.closed]
def get_neighbours(self, node: Node):
neighbours = []
if self.check_if_can_move(Coordinates(node.x + 1, node.y)):
neighbours.append(Node(node.x + 1, node.y))
if self.check_if_can_move(Coordinates(node.x - 1, node.y)):
neighbours.append(Node(node.x - 1, node.y))
if self.check_if_can_move(Coordinates(node.x, node.y + 1)):
neighbours.append(Node(node.x, node.y + 1))
if self.check_if_can_move(Coordinates(node.x, node.y - 1)):
neighbours.append(Node(node.x, node.y - 1))
return neighbours
def move(self):
if len(self.path) == 0:
self.find_path()
next_coord = self.path.pop()
star_dir = self.direction
if self.x > next_coord.x and not self.direction == 'left':
if self.direction == 'down':
self.turn_right()
else:
self.turn_left()
elif self.x < next_coord.x and not self.direction == 'right':
if self.direction == 'down':
self.turn_left()
else:
self.turn_right()
elif self.y > next_coord.y and not self.direction == 'up':
if self.direction == 'left':
self.turn_right()
else:
self.turn_left()
elif self.y < next_coord.y and not self.direction == 'down':
if self.direction == 'right':
self.turn_right()
else:
self.turn_left()
if Node(next_coord.x, next_coord.y) == self.destination or Node(self.x, self.y) == self.destination:
if self.destination.package:
self.pick_up_package(self.destination.package)
return
elif self.destination.is_rack:
self.unload_package(self.destination)
return
if star_dir == self.direction:
self.x = next_coord.x
self.y = next_coord.y
else:
self.path.append(next_coord)
self.closed = []
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 (next_coords.x, next_coords.y) != (self.destination.x, self.destination.y):
tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
return tile_passable
def find_package(self):
if len(self.route) == 0:
pygame.quit()
sys.exit()
pack_id = self.route[0]
self.route = self.route[1:]
print("Next package ID:")
print(pack_id)
dst_package = None
for pack in self.warehouse.packages:
if pack.id + 1 == pack_id:
dst_package = pack
break
if dst_package is not None:
return dst_package
def rack_heuristics(self, start, goal, can_place):
heur_can_place = not can_place
diff_x = pow(goal.x - start.x, 2)
diff_y = pow(goal.y - start.y, 2)
place_cost = 100 * float(heur_can_place)
return round(sqrt(diff_x + diff_y), 3) + float(place_cost)
def find_nearest_rack_for(self, package, expand_box=0):
weight = package.size
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
start_quarter_x = self.x - quarter_x if self.x - quarter_x > 0 else 0
end_quarter_x = self.x + quarter_x if self.x + quarter_x < self.warehouse.width else self.warehouse.width - 1
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 == storage and t.capacity >= weight] for row in quarter]
quarter_racks = [t for row in quarter_racks for t in row]
racks_costs = []
for rack in quarter_racks:
new_node = Node(rack.x_position, rack.y_position)
can_place = self.location_classifier.check_if_can_place(package, rack)
cost = self.rack_heuristics(start_node, new_node, can_place)
if cost > 0:
racks_costs.append((rack, cost))
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
if pack.lays_on_field.category.name in ['Rack', 'Fridge']:
pack.lays_on_field.capacity += pack.size
self.destination.package = None
pack.lays_on_field = None
self.transported_package = pack
def unload_package(self, rack):
pack = self.transported_package
tile = self.warehouse.tiles[rack.x][rack.y]
self.transported_package = None
self.is_loaded = False
pack.lays_on_field = tile
pack.lays_on_field.capacity -= pack.size
pack.status = PackStatus.STORED
self.warehouse.packages.append(pack)
# print(tile.air_temperature, tile.humidity)
def create_graph_map(self):
for package1 in self.warehouse.packages:
rack = self.find_nearest_rack_for(package1)
for package2 in self.warehouse.packages:
self.find_path(Node(package2.x, package2.y), Node(rack.x_position, rack.y_position))
self.graph_map[package2.id + 1][package1.id + ceil((len(self.warehouse.packages) / 2)) + 1] = len(self.path)
self.graph_map[package1.id + ceil((len(self.warehouse.packages) / 2)) + 1][package2.id + 1] = len(self.path)
if package1 == package2:
continue
self.find_path(Node(package1.x, package1.y), Node(package2.x, package2.y))
self.graph_map[package1.id + 1][package2.id + 1] = len(self.path)
self.find_path(Node(package1.x, package1.y))
self.graph_map[package1.id + 1][0] = len(self.path)
self.graph_map[0][package1.id + 1] = len(self.path)
def trace_route(self):
for packs in self.warehouse.packages:
print(packs.id)
self.route = genetic_trace_route(self.graph_map, len(self.warehouse.packages))
print("best route")
print(self.route)