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generowanie populacji, gen jako koszt obiekt z kosztem przejazdu

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tomasz 2020-05-17 15:23:06 +02:00
parent 1e82036602
commit d25c4213de
14 changed files with 340 additions and 178 deletions
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344
.idea/workspace.xml
View File

@ -2,13 +2,12 @@
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@ -17,13 +16,16 @@
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@ -46,8 +54,8 @@
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@ -68,19 +76,13 @@
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@ -120,15 +130,29 @@
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@ -143,21 +167,24 @@
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@ -374,19 +404,19 @@
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@ -512,37 +519,6 @@
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15
AStar.py
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@ -2,7 +2,7 @@ import numpy
from AStarState import AStarState from AStarState import AStarState
class AStar: class AStar:
def returnPath(self, currentNode, grid, flaga): def returnPath(self, currentNode, grid):
path = [] path = []
noRows, noColumns = numpy.shape(grid) noRows, noColumns = numpy.shape(grid)
result = [[-1 for i in range(noColumns)] for j in range(noRows)] result = [[-1 for i in range(noColumns)] for j in range(noRows)]
@ -41,10 +41,14 @@ class AStar:
if item.g<current.g: if item.g<current.g:
current = item current = item
currentIndeks = indeks currentIndeks = indeks
if iterations>max and flaga == 0: #podprojekt genetyczne
return current.g
if iterations>max: if iterations>max:
return self.returnPath(current, grid) return self.returnPath(current, grid)
visited.append(current) visited.append(current)
toVisit.pop(currentIndeks) toVisit.pop(currentIndeks)
if current==endNode and flaga == 0:
return current.g
if current==endNode: if current==endNode:
return self.returnPath(current, grid) #zwracanie wagi przejscia return self.returnPath(current, grid) #zwracanie wagi przejscia
children = [] children = []
@ -56,6 +60,11 @@ class AStar:
positions[1] > (noColumns - 1) or positions[1] > (noColumns - 1) or
positions[1] < 0): positions[1] < 0):
continue continue
""" podprojekt genetyczne"""
if grid[positions[0]][positions[1]] == 2 and flaga == 0:
children.append(AStarState(current, positions))
continue
if grid[positions[0]][positions[1]]!=0: if grid[positions[0]][positions[1]]!=0:
continue continue
@ -76,3 +85,7 @@ class AStar:
continue continue
toVisit.append(child) toVisit.append(child)

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1
Mapa/generate.py
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@ -172,6 +172,7 @@ class Generate:
all[wysokosc-2][szerokosc-3] = 2 all[wysokosc-2][szerokosc-3] = 2
all[wysokosc-1][szerokosc-3] = 23 all[wysokosc-1][szerokosc-3] = 23
all[wysokosc-2][szerokosc-4] = 1 all[wysokosc-2][szerokosc-4] = 1
""" Drugi wyjazd """ Drugi wyjazd
all[wysokosc-2][2] = 2 all[wysokosc-2][2] = 2
all[wysokosc-1][2] = 23 all[wysokosc-1][2] = 23

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12
genetyczny/Data.py
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@ -4,5 +4,15 @@
class Data: class Data:
def __init__(self): def __init__(self):
self.zajeteRegaly = [] self.zajeteRegaly = [] #krotka (x,y)
self.mapa = []
self.unbox = []
self.astarMap = []
def genMap(self, mapa):
tmpMap =[]
tmpMap = mapa.copy()
for regal in self.zajeteRegaly:
tmpMap[regal[0]][regal[1]] = 2
return tmpMap

8
genetyczny/Gene.py Normal file
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@ -0,0 +1,8 @@
class Gene:
def __init__(self, poczatkowa, koncowa, name):
self.poczatkowa = poczatkowa
self.koncowa = koncowa
self.koszt = 0
self.name = name

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86
genetyczny/funkcje.py Normal file
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@ -0,0 +1,86 @@
from Mapa.unboxOnTheFloor import UnboxOnTheFloor
from genetyczny.Gene import Gene
from Mapa.box import Box
from AStar import AStar
import random
def znajdzUnbox(data,mapa):
unboxy = []
iterator = 0
ostatniWiersz = len(mapa) -1
for x in mapa[ostatniWiersz]:
if (isinstance(x, UnboxOnTheFloor)):
unboxy.append((ostatniWiersz, iterator))
iterator += 1
data.unbox = unboxy
def wybierzUnbox(data):
return random.choice(data.unbox)
def policzCost(mapaBoxy, poczatek, koniec):
astar = AStar()
koszt = astar.search(poczatek, koniec, mapaBoxy, 1, 0)
return koszt
def generateChromosome(data, mapaBoxy, wheelxy):
chromosome = []
regaly = data.zajeteRegaly
random.shuffle(regaly)
for r in regaly:
gen0 = Gene(wheelxy,r,"poczatek-regal")
gen0.koszt = policzCost(mapaBoxy, wheelxy, r)
chromosome.append(gen0)
unbox = wybierzUnbox(data)
gen1 = Gene(r,unbox,"regal-unbox")
gen1.koszt = policzCost(mapaBoxy, r, unbox)
chromosome.append(gen1)
return chromosome
def generatePopulation(data, mapaBoxy, wheelxy, ileWPopulacji):
populacja = []
for i in range(ileWPopulacji):
populacja.append(generateChromosome(data, mapaBoxy, wheelxy))
return populacja
def randomBox(mapa, regals, ile):
regals = regals
mapa = mapa
tupleList = []
ileRegalow = len(regals)
iteration = 0
while iteration < ileRegalow and iteration < ile:
regal = random.choice(regals)
if regal in tupleList:
continue
else:
tupleList.append(regal)
iteration+=1
for (i,j,x) in tupleList:
box = Box()
mapa[i][j].put(box)
"""
for t in tupleList:
listaRegalow.append((t[0],t[1]))
data.zajeteRegaly = listaRegalow
"""
return mapa
def znajdzBox(mapa, regals):
zajeteRegaly = []
for (x,y,z) in regals:
shelf = mapa[x][y]
tmp = shelf.occupied
if(tmp == True):
zajeteRegaly.append((x,y))
return zajeteRegaly

26
genetyczny/randomBox.py
View File

@ -1,26 +0,0 @@
from Mapa.shelf import Shelf
from wheel import Wheel
from Mapa.box import Box
import random
def randomBox(data, mapa_, regals_, ile):
regals = regals_
mapa = mapa_
tupleList = []
ileRegalow = len(regals)
iteration = 0
while iteration < ileRegalow and iteration < ile:
regal = random.choice(regals)
if regal in tupleList:
continue
else:
tupleList.append(regal)
iteration+=1
for (i,j,x) in tupleList:
box = Box()
mapa[i][j].put(box)
data.zajeteRegaly = tupleList
return mapa

26
program.py
View File

@ -4,7 +4,7 @@ from Mapa.generate import Generate
from Mapa.floor import Floor from Mapa.floor import Floor
from Mapa.wall import Wall from Mapa.wall import Wall
from Mapa.shelf import Shelf from Mapa.shelf import Shelf
from genetyczny.randomBox import * from genetyczny.funkcje import *
from wheel import Wheel from wheel import Wheel
from Mapa.boxOnTheFloor import BoxOnTheFloor from Mapa.boxOnTheFloor import BoxOnTheFloor
from Mapa.box import Box from Mapa.box import Box
@ -25,6 +25,7 @@ class MainWindow:
pygame.display.set_caption('Inteligentny wózek widłowy') pygame.display.set_caption('Inteligentny wózek widłowy')
self.clock = pygame.time.Clock() self.clock = pygame.time.Clock()
self.ticks = 0 self.ticks = 0
self.data = Data()
self.moves = [] self.moves = []
self.regals = [] self.regals = []
self.map = Generate.generate(szerokosc+2, wysokosc+2, kruche, latwopalne, radioaktywne, niebezpieczne) self.map = Generate.generate(szerokosc+2, wysokosc+2, kruche, latwopalne, radioaktywne, niebezpieczne)
@ -35,7 +36,7 @@ class MainWindow:
#create #create
self.wheel = Wheel(self.screen, self.cell) self.wheel = Wheel(self.screen, self.cell)
### ###
self.data = Data()
#przekladanie wartosci liczbowych z tablicy na mapę obiektow #przekladanie wartosci liczbowych z tablicy na mapę obiektow
@ -49,7 +50,7 @@ class MainWindow:
self.mapForAStar[i][j] = 0 self.mapForAStar[i][j] = 0
elif (self.map[i][j]==23): elif (self.map[i][j]==23):
self.map[i][j] = UnboxOnTheFloor(self.screen, self.cell, i, j) self.map[i][j] = UnboxOnTheFloor(self.screen, self.cell, i, j)
self.mapForAStar[i][j] = 1 self.mapForAStar[i][j] = 0
else: else:
#regals (kordy i,j oraz rodzaj regału) #regals (kordy i,j oraz rodzaj regału)
@ -57,7 +58,14 @@ class MainWindow:
self.map[i][j] = Shelf(self.screen, self.cell, i, j, (self.map[i][j]-3)%4, (self.map[i][j]-3)//4) self.map[i][j] = Shelf(self.screen, self.cell, i, j, (self.map[i][j]-3)%4, (self.map[i][j]-3)//4)
self.mapForAStar[i][j] = 1 self.mapForAStar[i][j] = 1
self.map = randomBox(self.data, self.map, self.regals, 10) self.map = randomBox(self.map, self.regals, 10)
self.data.mapa = self.map
znajdzUnbox(self.data,self.map)
self.data.zajeteRegaly = znajdzBox(self.map, self.regals)
tmp = self.mapForAStar[:]
self.data.astarMap = self.data.genMap(tmp)
################################################# #################################################
#loop #loop
while True: while True:
@ -82,7 +90,12 @@ class MainWindow:
for event in pygame.event.get(): for event in pygame.event.get():
if(event.type==pygame.QUIT): if(event.type==pygame.QUIT):
sys.exit() sys.exit()
"""
elif(event.type == pygame.K_p):
print("eee")
"""
elif(event.type==pygame.KEYDOWN): elif(event.type==pygame.KEYDOWN):
populacja = generatePopulation(self.data, self.data.astarMap, [self.wheel.ns, self.wheel.we], 100)
if len(self.moves)==0: if len(self.moves)==0:
self.wheel.move(event, self.map) self.wheel.move(event, self.map)
elif(event.type==pygame.MOUSEBUTTONDOWN): elif(event.type==pygame.MOUSEBUTTONDOWN):
@ -92,7 +105,7 @@ class MainWindow:
self.map[0][2] = BoxOnTheFloor(self.screen, self.cell, 0, 2, Box()) self.map[0][2] = BoxOnTheFloor(self.screen, self.cell, 0, 2, Box())
star = AStar() star = AStar()
path = star.search([self.wheel.ns, self.wheel.we], [0, 2], self.mapForAStar, 1) path = star.search([self.wheel.ns, self.wheel.we], [0, 2], self.mapForAStar, 1, 1)
cns = self.wheel.ns cns = self.wheel.ns
cwe = self.wheel.we cwe = self.wheel.we
value = path[cns][cwe] value = path[cns][cwe]
@ -121,7 +134,7 @@ class MainWindow:
self.mapForAStar[where[0]][where[1]] = 0 self.mapForAStar[where[0]][where[1]] = 0
# wyszukiwanie ścieżki z miejsca podjęcia paczki do regału # wyszukiwanie ścieżki z miejsca podjęcia paczki do regału
# zmienna path posiada macierz oraz kroki podjęte przez wózek # zmienna path posiada macierz oraz kroki podjęte przez wózek
path = star.search([0, 2], where, self.mapForAStar, 1) path = star.search([0, 2], where, self.mapForAStar, 1, 1)
self.mapForAStar[where[0]][where[1]] = 1 self.mapForAStar[where[0]][where[1]] = 1
value = path[cns][cwe] value = path[cns][cwe]
while True: while True:
@ -146,6 +159,7 @@ class MainWindow:
value=value+1 value=value+1
continue continue
break break
self.data.zajeteRegaly = znajdzBox(self.map, self.regals)
def draw(self): def draw(self):
self.screen.fill((33,69,108)) self.screen.fill((33,69,108))
for i in range(len(self.map)): for i in range(len(self.map)):