240 lines
8.0 KiB
Python
240 lines
8.0 KiB
Python
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
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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, 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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if isinstance(other, Node):
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return self.x == other.x and self.y == self.y
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return False
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def __lt__(self, other):
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return isinstance(other, Node) and self.g_cost < other.g_cost
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def __repr__(self):
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return "Node:{}x{}".format(self.x, self.y)
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class Agent:
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def __init__(self, start_x, start_y, assigned_warehouse, radius=5):
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self.x = start_x
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self.y = start_y
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self.radius = radius
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self.warehouse = assigned_warehouse
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self.is_loaded = False
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self.transported_package = None
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self.direction = "up"
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self.dest = Node(1, 1)
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self.closed = list()
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self.open = PriorityQueue()
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self.path = list()
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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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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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self.path.append(current_node)
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current_node = current_node.parent
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return True
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neighbour_list = self.get_neighbours(current_node)
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for neighbour in neighbour_list:
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cost = current_node.g_cost + self.heuristic(current_node, neighbour)
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if self.check_if_closed(neighbour):
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continue
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if self.check_if_open(neighbour):
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if neighbour.g_cost > cost:
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neighbour.g_cost = cost
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neighbour.parent = current_node
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else:
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neighbour.g_cost = cost
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neighbour.h_cost = self.heuristic(neighbour, self.dest)
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neighbour.parent = current_node
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self.open.put((neighbour.g_cost, neighbour))
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return False
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def turn_left(self):
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new_direction = TURN_LEFT_DIRECTIONS.get(self.direction, self.direction)
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self.direction = new_direction
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def turn_right(self):
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new_direction = TURN_RIGHT_DIRECTIONS.get(self.direction, self.direction)
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self.direction = new_direction
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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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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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def check_if_closed(self, node: Node):
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return (node.x, node.y) in [(n.x, n.y) for n in self.closed]
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def get_neighbours(self, node: Node):
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neighbours = []
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if self.check_if_can_move(Coordinates(node.x + 1, node.y)):
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neighbours.append(Node(node.x + 1, node.y))
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if self.check_if_can_move(Coordinates(node.x - 1, node.y)):
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neighbours.append(Node(node.x - 1, node.y))
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if self.check_if_can_move(Coordinates(node.x, node.y + 1)):
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neighbours.append(Node(node.x, node.y + 1))
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if self.check_if_can_move(Coordinates(node.x, node.y - 1)):
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neighbours.append(Node(node.x, node.y - 1))
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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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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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else:
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self.turn_left()
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elif self.x < next.x and not self.direction == 'right':
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if self.direction == 'down':
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self.turn_left()
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else:
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self.turn_right()
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elif self.y > next.y and not self.direction == 'up':
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if self.direction == 'left':
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self.turn_right()
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else:
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self.turn_left()
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elif self.y < next.y and not self.direction == 'down':
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if self.direction == 'right':
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self.turn_right()
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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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else:
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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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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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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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print(tile.air_temperature, tile.humidity)
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