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10
floor.py
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10
floor.py
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import pygame
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class Floor:
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def __init__(self, screen, cell, we, ns):
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self.cell = cell
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self.ns = ns
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self.we = we
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self.screen = screen
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def draw(self):
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pass
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174
generate.py
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174
generate.py
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class Generate:
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@staticmethod
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def generate(szerokosc, wysokosc, kruche, latwopalne, radioaktywne, niebezpieczne):
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# 1 - sciana
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# 2 - podłoga
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# 3 - regał od dołu (zwykly)
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# 4 - regał od gory (zwykly)
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# 5 - regał od lewej (zwykly)
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# 6 - regał od prawej (zwykly)
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# 7 - regał od dołu (kruche)
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# 8 - regał od gory (kruche)
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# 9 - regał od lewej (kruche)
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# 10 - regał od prawej (kruche)
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# 11 - regał od dołu (latwopalne)
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# 12 - regał od gory (latwopalne)
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# 13 - regał od lewej (latwopalne)
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# 14 - regał od prawej (latwopalne)
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# 15 - regał od dołu (radioaktywne)
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# 16 - regał od gory (radioaktywne)
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# 17 - regał od lewej (radioaktywne)
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# 18 - regał od prawej (radioaktywne)
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# 19 - regał od dołu (niebezpieczne)
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# 20 - regał od gory (niebezpieczne)
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# 21 - regał od lewej (niebezpieczne)
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# 22 - regał od prawej (niebezpieczne)
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# 23 - unboxOnTheFloor
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all = []
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tmp = []
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for i in range(0, wysokosc):
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for j in range(0, szerokosc):
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tmp.append(2)
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all.append(tmp)
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tmp = []
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for i in range(0, szerokosc):
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all[0][i] = 1
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all[wysokosc-1][i] = 1
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for i in range(0, wysokosc):
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all[i][0] = 1
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all[i][szerokosc-1] = 1
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if (kruche>0):
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for i in range(2, szerokosc-2):
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all[1][i] = 7
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kruche-=1
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elif (latwopalne>0):
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for i in range(2, szerokosc-2):
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all[1][i] = 11
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latwopalne-=1
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elif (radioaktywne>0):
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for i in range(2, szerokosc-2):
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all[1][i] = 15
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radioaktywne-=1
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elif (niebezpieczne>0):
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for i in range(2, szerokosc-2):
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all[1][i] = 19
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niebezpieczne-=1
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else:
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for i in range(2, szerokosc-2):
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all[1][i] = 3
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if (kruche>0):
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for i in range(2, wysokosc-2):
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all[i][szerokosc-2] = 9
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kruche-=1
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elif (latwopalne>0):
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for i in range(2, wysokosc-2):
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all[i][szerokosc-2] = 13
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latwopalne-=1
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elif (radioaktywne>0):
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for i in range(2, wysokosc-2):
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all[i][szerokosc-2] = 17
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radioaktywne-=1
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elif (niebezpieczne>0):
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for i in range(2, wysokosc-2):
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all[i][szerokosc-2] = 21
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niebezpieczne-=1
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else:
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for i in range(2, wysokosc-2):
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all[i][szerokosc-2] = 5
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if (kruche>0):
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for i in range(2, szerokosc-2):
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all[wysokosc-2][i] = 8
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kruche-=1
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elif (latwopalne>0):
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for i in range(2, szerokosc-2):
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all[wysokosc-2][i] = 12
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latwopalne-=1
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elif (radioaktywne>0):
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for i in range(2, szerokosc-2):
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all[wysokosc-2][i] = 16
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radioaktywne-=1
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elif (niebezpieczne>0):
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for i in range(2, szerokosc-2):
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all[wysokosc-2][i] = 20
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niebezpieczne-=1
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else:
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for i in range(2, szerokosc-2):
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all[wysokosc-2][i] = 4
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if (kruche>0):
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for i in range(2, wysokosc-2):
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all[i][1] = 10
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kruche-=1
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elif (latwopalne>0):
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for i in range(2, wysokosc-2):
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all[i][1] = 14
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latwopalne-=1
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elif (radioaktywne>0):
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for i in range(2, wysokosc-2):
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all[i][1] = 18
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radioaktywne-=1
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elif (niebezpieczne>0):
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for i in range(2, wysokosc-2):
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all[i][1] = 22
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niebezpieczne-=1
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else:
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for i in range(2, wysokosc-2):
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all[i][1] = 6
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for j in range(3, szerokosc-4, 3):
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if (kruche > 0):
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for i in range(3, wysokosc - 3):
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all[i][j] = 9
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kruche -= 1
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elif (latwopalne > 0):
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for i in range(3, wysokosc - 3):
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all[i][j] = 13
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latwopalne -= 1
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elif (radioaktywne > 0):
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for i in range(3, wysokosc - 3):
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all[i][j] = 17
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radioaktywne -= 1
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elif (niebezpieczne > 0):
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for i in range(3, wysokosc - 3):
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all[i][j] = 21
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niebezpieczne -= 1
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else:
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for i in range(3, wysokosc - 3):
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all[i][j] = 5
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if (kruche > 0):
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for i in range(3, wysokosc - 3):
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all[i][j+1] = 10
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kruche -= 1
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elif (latwopalne > 0):
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for i in range(3, wysokosc - 3):
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all[i][j+1] = 14
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latwopalne -= 1
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elif (radioaktywne > 0):
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for i in range(3, wysokosc - 3):
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all[i][j+1] = 18
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radioaktywne -= 1
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elif (niebezpieczne > 0):
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for i in range(3, wysokosc - 3):
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all[i][j+1] = 22
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niebezpieczne -= 1
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else:
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for i in range(3, wysokosc - 3):
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all[i][j+1] = 6
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counter = 0
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for i in range(3, szerokosc - 3):
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counter+=1
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if counter==3:
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counter=0
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continue
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else:
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all[3][i] = 1
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all[wysokosc-4][i] = 1
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all[1][1] = 1
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all[1][3] = 1
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all[1][szerokosc-2] = 1
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all[wysokosc-2][1] = 1
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all[wysokosc-2][szerokosc-2] = 1
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all[0][2] = 2
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all[1][2] = 2
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all[wysokosc-2][szerokosc-3] = 2
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all[wysokosc-1][szerokosc-3] = 23
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all[wysokosc-2][szerokosc-4] = 1
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return all
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36
main.py
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36
main.py
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from easygui import *
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from program import MainWindow
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import os;
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def main():
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good = False
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while (True):
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good = True
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fieldValues = multenterbox("Wprowadź warunki początkowe", "Start programu", ["Szerekość kraty (>=6)", "Wysokość kraty (>=7)", "Ilość regałów kruchych", "Ilość regałów łatwopalnych", "Ilość regałów radioaktywnych", "Ilość regałów niebezpiecznych"])
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if(fieldValues[0].isnumeric() and (fieldValues[0]!="")):
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if(int(fieldValues[0])<=5):
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msgbox("Szerokość kraty jest zbyt mała, aby można było uruchomić program", "Błąd")
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good = False
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elif(good==True):
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msgbox("Wartość nie jest liczbą", "Błąd")
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good = False
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if(fieldValues[1].isnumeric() and (fieldValues[0]!="")):
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if((int(fieldValues[1])<=6) and (good==True)):
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msgbox("Wysokość kraty jest zbyt mała, aby można było uruchomić program", "Błąd")
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good = False
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elif (good == True):
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msgbox("Wartość nie jest liczbą", "Błąd")
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good = False
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if ((fieldValues[2].isnumeric()) and (fieldValues[3].isnumeric()) and (fieldValues[4].isnumeric()) and (fieldValues[5].isnumeric()) and (fieldValues[2]!="") and (fieldValues[3]!="") and (fieldValues[4]!="") and (fieldValues[5]!="") and (good==True)):
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sum = int(fieldValues[2])+int(fieldValues[3])+int(fieldValues[4])+int(fieldValues[5])
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allow = 6+(((int(fieldValues[0])-6)//3)*2)
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if(sum>allow):
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msgbox("Magazyn zbyt mały co by pomieścił tyle regałów", "Błąd")
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good = False
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elif (good == True):
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msgbox("Wartość nie jest liczbą", "Błąd")
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good = False
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if good:
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window = MainWindow(int(fieldValues[0]), int(fieldValues[1]), int(fieldValues[2]), int(fieldValues[3]), int(fieldValues[4]), int(fieldValues[5]));
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break
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main()
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44
neurons.py
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44
neurons.py
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import numpy
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import cv2
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import argparse
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import numpy as np
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class Neurons:
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def __init__(self):
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pass
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def get_output_layers(self, net):
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layer_names = net.getLayerNames()
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output_layers = [layer_names[i[0] - 1] for i in net.getUnconnectedOutLayers()]
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return output_layers
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def whatIsIt(self, path):
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image = cv2.imread(path)
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scale = 0.00392
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classes = None
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with open("yolov3.txt", 'r') as f:
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classes = [line.strip() for line in f.readlines()]
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net = cv2.dnn.readNet("yolov3.weights", "yolov3.cfg")
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blob = cv2.dnn.blobFromImage(image, scale, (416, 416), (0, 0, 0), True, crop=False)
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net.setInput(blob)
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outs = net.forward(self.get_output_layers(net))
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class_ids = []
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for out in outs:
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for detection in out:
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scores = detection[5:]
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class_id = np.argmax(scores)
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confidence = scores[class_id]
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if confidence > 0.5:
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class_ids.append(class_id)
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print([classes[ids] for ids in class_ids])
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x = [1, 0, 0, 0, 0]
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numpy.random.shuffle(x)
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if x[0]==1:
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print("Zwykła")
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elif x[1]==1:
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print("Kruchy")
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elif x[2]==1:
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print("Łatwopalny")
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elif x[3]==1:
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print("Radioaktywny")
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elif x[4]==1:
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print("Niebezpieczny")
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return [list(x)]
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146
program.py
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146
program.py
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import pygame
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from os import sys
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from generate import Generate
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from floor import Floor
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from wall import Wall
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from shelf import Shelf
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from wheel import Wheel
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from boxOnTheFloor import BoxOnTheFloor
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from box import Box
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from unboxOnTheFloor import UnboxOnTheFloor
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from AStar import AStar
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import numpy
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import easygui
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from neurons import Neurons
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from whereDecision import WhereDecision
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from Evencik import Evencik
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class MainWindow:
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def __init__(self, szerokosc, wysokosc, kruche, latwopalne, radioaktywne, niebezpieczne):
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#config
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self.cell = 50
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#init
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pygame.init()
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pygame.display.set_caption('Inteligentny wózek widłowy')
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self.clock = pygame.time.Clock()
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self.ticks = 0
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self.moves = []
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self.regals = []
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self.map = Generate.generate(szerokosc+2, wysokosc+2, kruche, latwopalne, radioaktywne, niebezpieczne)
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self.mapForAStar = Generate.generate(szerokosc+2, wysokosc+2, kruche, latwopalne, radioaktywne, niebezpieczne)
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self.screen = pygame.display.set_mode((((szerokosc+2)*self.cell), ((wysokosc+2)*self.cell)))
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self.neurons = Neurons()
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self.whereDecision = WhereDecision()
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#create
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self.wheel = Wheel(self.screen, self.cell);
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for i in range(len(self.map)):
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for j in range(len(self.map[i])):
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if (self.map[i][j]==1):
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self.map[i][j] = Wall(self.screen, self.cell, i, j)
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self.mapForAStar[i][j] = 1
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elif (self.map[i][j]==2):
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self.map[i][j] = Floor(self.screen, self.cell, i, j)
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self.mapForAStar[i][j] = 0
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elif (self.map[i][j]==23):
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self.map[i][j] = UnboxOnTheFloor(self.screen, self.cell, i, j)
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self.mapForAStar[i][j] = 1
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else:
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self.regals.append((i, j, (self.map[i][j]-3)//4))
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self.map[i][j] = Shelf(self.screen, self.cell, i, j, (self.map[i][j]-3)%4, (self.map[i][j]-3)//4)
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self.mapForAStar[i][j] = 1
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#loop
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while True:
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self.events()
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self.draw()
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self.clock.tick(40)
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self.ticks+=1
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if self.ticks>10:
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self.ticks=0
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if len(self.moves)>0:
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if(self.moves[0]==1):
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self.wheel.move(Evencik(pygame.K_UP), self.map)
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elif (self.moves[0]==2):
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self.wheel.move(Evencik(pygame.K_DOWN), self.map)
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elif (self.moves[0]==3):
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self.wheel.move(Evencik(pygame.K_LEFT), self.map)
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elif (self.moves[0]==4):
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self.wheel.move(Evencik(pygame.K_RIGHT), self.map)
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self.moves.pop(0)
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def events(self):
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for event in pygame.event.get():
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if(event.type==pygame.QUIT):
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sys.exit()
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elif(event.type==pygame.KEYDOWN):
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if len(self.moves)==0:
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self.wheel.move(event, self.map)
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elif(event.type==pygame.MOUSEBUTTONDOWN):
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if (type(self.map[0][2]) == Floor):
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whatIsIt = self.neurons.whatIsIt(easygui.fileopenbox("Wybierz zdjęcie paczki", "Wybierz zdjęcie paczki", filetypes = [["*.jpg", "*.jpeg", "*.png", "Pliki graficzne"]]))
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where = self.whereDecision.recognize(whatIsIt, self.regalsik())
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self.map[0][2] = BoxOnTheFloor(self.screen, self.cell, 0, 2, Box())
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star = AStar()
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path = star.search([self.wheel.ns, self.wheel.we], [0, 2], self.mapForAStar, 1)
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cns = self.wheel.ns
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cwe = self.wheel.we
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value = path[cns][cwe]
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while True:
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if cns>0 and path[cns-1][cwe]==(value+1):
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cns=cns-1
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self.moves.append(1)
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value=value+1
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continue
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if cns<(len(self.mapForAStar)-1) and path[cns+1][cwe]==(value+1):
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cns=cns+1
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self.moves.append(2)
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value=value+1
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continue
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if cwe>0 and path[cns][cwe-1]==(value+1):
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cwe=cwe-1
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self.moves.append(3)
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value=value+1
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continue
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if cwe<(len(self.mapForAStar[0])-1) and path[cns][cwe+1]==(value+1):
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cns=cns+1
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self.moves.append(4)
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value=value+1
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continue
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break
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self.mapForAStar[where[0]][where[1]] = 0
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path = star.search([0, 2], where, self.mapForAStar, 1)
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self.mapForAStar[where[0]][where[1]] = 1
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value = path[cns][cwe]
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while True:
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if cns>0 and path[cns-1][cwe]==(value+1):
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cns=cns-1
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self.moves.append(1)
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value=value+1
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continue
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if cns<(len(self.mapForAStar)-1) and path[cns+1][cwe]==(value+1):
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cns=cns+1
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self.moves.append(2)
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value=value+1
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continue
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if cwe>0 and path[cns][cwe-1]==(value+1):
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cwe=cwe-1
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self.moves.append(3)
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value=value+1
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continue
|
||||
if cwe<(len(self.mapForAStar[0])-1) and path[cns][cwe+1]==(value+1):
|
||||
cwe=cwe+1
|
||||
self.moves.append(4)
|
||||
value=value+1
|
||||
continue
|
||||
break
|
||||
def draw(self):
|
||||
self.screen.fill((33,69,108))
|
||||
for i in range(len(self.map)):
|
||||
for j in range(len(self.map[i])):
|
||||
self.map[i][j].draw()
|
||||
self.wheel.draw()
|
||||
pygame.display.flip()
|
||||
def regalsik(self):
|
||||
tmp = []
|
||||
for regal in self.regals:
|
||||
if self.map[regal[0]][regal[1]].isOccupied()==False:
|
||||
tmp.append(regal)
|
||||
return tmp
|
||||
Loading…
Reference in New Issue
Block a user