waiter recognizes images, checks prediction, serves dish with correlated table
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723568cf31
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23b85d2549
@ -34,7 +34,6 @@ load_model_thread.start()
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# joining this thread to main thread. Man thread will be started after this finish
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load_model_thread.join()
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# initialize drawable objects manager
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drawableManager = DrawableCollection()
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@ -5,7 +5,6 @@ import numpy as np
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import kelner.src.settings as settings
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class Predictor:
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def __init__(self, food_list):
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self._food_list = food_list
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@ -26,7 +25,6 @@ class Predictor:
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print("THIS IS A:{}".format(pred_value))
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def predict_class(self, img):
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img = image.load_img(img, target_size=(224, 224))
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img = image.img_to_array(img)
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img = np.expand_dims(img, axis=0)
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@ -38,3 +36,4 @@ class Predictor:
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pred_value = self._food_list[index]
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# print("Pred: {}, index: {}, pred_value:{}".format(pred, index, pred_value))
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print("THIS IS A:{}".format(pred_value))
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return pred_value
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@ -11,7 +11,7 @@ class Drawable:
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self.__x = x
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self.__y = y
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self.__cellSize = cellSize # cell size in pixels
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self.__offset = offset # paint offset in pixels
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self.__offset = offset # paint offset in pixels
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def setX(self, x):
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if x < self.__minX or self.__maxX < x:
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@ -36,6 +36,9 @@ class Drawable:
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def getY(self):
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return self.__y
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def get_posistion(self):
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return self.getX(), self.getY()
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def getMinX(self):
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return self.__minX
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@ -5,12 +5,13 @@ from kelner.src.components.Drawable import Drawable
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from kelner.src.managers.ImageCache import ImageCache, Images
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from kelner.src.algorithms.DecisionTree import Tree_Builder
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# status of the table
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class Status(Enum):
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NotReady = 0
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Ready = 1
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Waiting = 2
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Served = 3
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Ready = 1
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Waiting = 2
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Served = 3
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class Table(Drawable):
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@ -24,17 +25,16 @@ class Table(Drawable):
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self.__tableLock = Lock()
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self.__zainteresowania = []
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# Build a Decision Tree
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self.Decision_Tree = Tree_Builder.build_tree(Tree_Builder.training_db)
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#Generates Hobbys
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# Generates Hobbys
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for a in range(len(self.__guests)):
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sport = random.randint(0,1)
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czytanie = random.randint(0,1)
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lucznictwo = random.randint(0,1)
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boks = random.randint(0,1)
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self.__zainteresowania.append([sport,czytanie,lucznictwo,boks, "A"])
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sport = random.randint(0, 1)
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czytanie = random.randint(0, 1)
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lucznictwo = random.randint(0, 1)
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boks = random.randint(0, 1)
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self.__zainteresowania.append([sport, czytanie, lucznictwo, boks, "A"])
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##def getOrder(self):
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## # Generates order
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@ -54,7 +54,7 @@ class Table(Drawable):
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return guests
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# waiter collects orders from table
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#def getOrder(self):
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# def getOrder(self):
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# order = None
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# if self.__tableLock.acquire(False):
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# try:
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@ -87,9 +87,7 @@ class Table(Drawable):
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def get_order(self):
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return self.__order
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#def getOrder(self):
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# def getOrder(self):
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# order = None
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# if self.__tableLock.acquire(False):
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# try:
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@ -4,14 +4,14 @@ from kelner.src.managers.ImageCache import ImageCache, Images
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class Direction:
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LeftUp = (-1,-1)
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Up = ( 0,-1)
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RightUp = ( 1,-1)
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Right = ( 1, 0)
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RightDown = ( 1, 1)
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Down = ( 0, 1)
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LeftDown = (-1, 1)
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Left = (-1, 0)
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LeftUp = (-1, -1)
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Up = (0, -1)
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RightUp = (1, -1)
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Right = (1, 0)
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RightDown = (1, 1)
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Down = (0, 1)
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LeftDown = (-1, 1)
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Left = (-1, 0)
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class Waiter(Drawable):
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@ -25,6 +25,8 @@ class Waiter(Drawable):
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self.__currentPath = []
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self._ready = True
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self._target = 'table'
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self._remaining_targets = []
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self._remaining_positions = []
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def moveUp(self):
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if self.getY() > self.getMinY():
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@ -77,7 +79,6 @@ class Waiter(Drawable):
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def getDirection(self):
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return self.__dx, self.__dy
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def setDirection(self, dx, dy):
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self.__dx = dx
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self.__dy = dy
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@ -135,11 +136,10 @@ class Waiter(Drawable):
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def clear_accepted_orders(self):
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self.__acceptedOrders.clear()
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def draw(self, screen):
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direction = self.getDirection()
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imageKind = None
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if direction == Direction.LeftUp:
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if direction == Direction.LeftUp:
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imageKind = Images.WaiterLeftUp
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elif direction == Direction.Up:
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imageKind = Images.WaiterUp
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@ -185,4 +185,16 @@ class Waiter(Drawable):
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return self._target
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def set_target(self, target):
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self._target = target
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self._target = target
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def add_remaining_target(self, target):
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self._remaining_targets.append(target)
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def get_remaining_targets(self):
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return self._remaining_targets
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def add_remaining_position(self, target):
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self._remaining_positions.append(target)
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def get_remaining_positions(self):
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return self._remaining_positions
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@ -101,8 +101,8 @@ class DrawableCollection:
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nearestTables = []
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tables = self.getTables(tableStatus)
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for table in tables:
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if (table.getX() == waiter.getX() and abs(table.getY() - waiter.getY()) == 1) or\
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(table.getY() == waiter.getY() and abs(table.getX() - waiter.getX()) == 1):
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if (table.getX() == waiter.getX() and abs(table.getY() - waiter.getY()) == 1) or \
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(table.getY() == waiter.getY() and abs(table.getX() - waiter.getX()) == 1):
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nearestTables.append(table)
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return nearestTables
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@ -12,21 +12,31 @@ class TableManager(threading.Thread):
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self.__drawableManager = drawableManager
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self.__menuManager = menuManager
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self.__runThread = True
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self._active = True
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# changes the status of a random table from NotReady to Ready
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def run(self):
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while self.__runThread:
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tables = self.__drawableManager.getTables(Status.NotReady)
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if tables:
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tableIndex = random.randint(0, len(tables) - 1)
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table = tables[tableIndex]
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if not self._active:
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time.sleep(5)
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table.setOrder(self.__menuManager.generateOrder())
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table.setStatus(Status.Ready)
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self.__drawableManager.forceRepaint()
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else:
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if tables:
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tableIndex = random.randint(0, len(tables) - 1)
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table = tables[tableIndex]
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time.sleep(7)
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table.setOrder(self.__menuManager.generateOrder())
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table.setStatus(Status.Ready)
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self.__drawableManager.forceRepaint()
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def stop(self):
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self.__runThread = False
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def get_table(self, position):
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tables = self.__drawableManager.getTables(Status.Waiting)
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for table in tables:
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if (table.getX(), table.getY()) == position:
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return table
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def pause(self):
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self._active = False
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def resume(self):
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self.__runThread = True
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self._active = True
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@ -23,29 +23,41 @@ class WaiterManager(threading.Thread):
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def __getNearestTargetPath(self, waiter, target):
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distance = sys.maxsize
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nearestTargetPath = None
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reservedPlaces = self.__drawableManager.getReservedPlaces(waiter)
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tables = self.__drawableManager.getTables(Status.Ready)
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finder = Finder(reservedPlaces)
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origin = (waiter.getX(), waiter.getY())
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if target == 'kitchen':
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path = finder.getPath(origin, (14, 1), True)
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path2 = finder.getPath(origin, (13, 0), True)
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path = path2 if len(path) > len(path2) else path
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return path
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if tables:
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reservedPlaces = self.__drawableManager.getReservedPlaces(waiter)
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finder = Finder(reservedPlaces)
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origin = (waiter.getX(), waiter.getY())
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if target == 'kitchen':
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path = finder.getPath(origin, (14, 1), True)
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path2 = finder.getPath(origin, (13, 0), True)
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path = path2 if len(path) > len(path2) else path
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else:
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for table in tables:
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if table.hasOrder():
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targets = finder.getNeighbours((table.getX(), table.getY()), False)
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for target in targets:
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if target is not None:
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path = finder.getPath(origin, target, True)
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if path:
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result = len(path)
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if result < distance:
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distance = result
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nearestTargetPath = path
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for table in tables:
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if table.hasOrder():
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targets = finder.getNeighbours((table.getX(), table.getY()), False)
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for target in targets:
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if target is not None:
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path = finder.getPath(origin, target, True)
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if path:
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result = len(path)
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if result < distance:
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distance = result
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nearestTargetPath = path
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return nearestTargetPath
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def get_specified_path(self, waiter, table):
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reserved_places = self.__drawableManager.getReservedPlaces(waiter)
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finder = Finder(reserved_places)
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origin = (waiter.getX(), waiter.getY())
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targets = finder.getNeighbours((table[0], table[1]), False)
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for target in targets:
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if target is not None:
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path = finder.getPath(origin, target, True)
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if path:
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return path
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def __changeWaiterDirection(self, waiter, x, y):
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targetDirection = x - waiter.getX(), y - waiter.getY()
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originDirection = waiter.getDirection()
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@ -107,22 +119,74 @@ class WaiterManager(threading.Thread):
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print("Ready to go")
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return ready_orders
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def predict_orders(self, orders, waiter):
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pass
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def predict_order(self, order, kitchen):
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food_list = self._menu_manager.get_menu()
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image_predictor = Predictor(food_list)
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paths = self._kitchen_manager.draw_single_order(order, kitchen)
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predicted_dishes = []
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self._kitchen_manager.run()
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self._table_manager.pause()
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# print("Printed images paths: {}".format(paths))
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if paths is not None:
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for img_path in paths:
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predicted_dish = image_predictor.predict_class(img_path)
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predicted_dishes.append(predicted_dish)
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self.__drawableManager.forceRepaint()
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return predicted_dishes
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def match_predicted_orders(self, predicted_orders):
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all_tables = self.__drawableManager.getTables(Status.Waiting)
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located_orders = dict()
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for p_order in predicted_orders:
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p_order.sort()
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for table in all_tables:
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table_dishes = table.get_order()
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table_dishes.sort()
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if p_order == table_dishes:
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located_orders[table] = p_order
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return located_orders
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def get_order_targets(self, orders):
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targets = dict()
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for table, dishes in orders.items():
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targets[table.get_posistion()] = dishes
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return targets
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def set_next_waiter_targets(self, waiter, matched_targets):
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for table in matched_targets.keys():
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path = self.get_specified_path(waiter, table)
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waiter.add_remaining_target(path)
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def set_next_waiter_positions(self, waiter, matched_positions):
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for position in matched_positions.keys():
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waiter.add_remaining_position(position)
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# changes the status of a random table from NotReady to Ready
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def run(self):
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while self.__runThread:
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if self.__waiters:
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for waiter in self.__waiters:
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if len(waiter.getAcceptedOrders()) > 0:
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if len(waiter.getAcceptedOrders()) > 1:
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waiter.set_target('kitchen')
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path = self.__getNearestTargetPath(waiter, target=waiter.get_target())
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waiter.make_busy()
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else:
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path = self.__getNearestTargetPath(waiter, target='table')
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if waiter.get_target() == 'return_order' and waiter.isPathEmpty():
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print("Order returned")
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table = self._table_manager.get_table(waiter.get_remaining_positions()[0])
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table.setStatus(Status.Served)
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waiter.get_remaining_positions().pop(0)
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if not waiter.get_remaining_positions() == []:
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waiter.set_target('return_order')
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path = self.get_specified_path(waiter, waiter.get_remaining_positions()[0])
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else:
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waiter.set_target('table')
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path = self.__getNearestTargetPath(waiter, target='table')
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waiter.setPath([] if path is None else path)
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if not waiter.isPathEmpty():
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@ -133,51 +197,36 @@ class WaiterManager(threading.Thread):
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# check if waiter is near kitchen
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if (waiter.getX(), waiter.getY()) == (14, 1) or (waiter.getX(), waiter.getY()) == (13, 0):
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if waiter.get_target() == 'kitchen':
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self._table_manager.pause()
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kitchen = self.__drawableManager.get_kitchen()
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waiter_orders = waiter.getAcceptedOrders()
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print("Waiter near kitchen. Collected orders: {}".format(waiter_orders))
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# print("Waiter near kitchen. Collected orders: {}".format(waiter_orders))
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kitchen.add_orders(waiter_orders)
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received_orders = kitchen.get_ready_orders()
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waiter.clear_accepted_orders()
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if received_orders:
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# self._kitchen_manager.draw_orders(received_orders)
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# paths = self._kitchen_manager.draw_orders(received_orders, kitchen)
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food_list = self._menu_manager.get_menu()
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ImagePredictor = Predictor(food_list)
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predicted_orders = []
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for order in received_orders:
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paths = self._kitchen_manager.draw_single_order(order, kitchen)
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self._kitchen_manager.run()
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self._table_manager.stop()
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# print("Printed images paths: {}".format(paths))
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if paths is not None:
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for img_path in paths:
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ImagePredictor.predict_class(img_path)
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self.__drawableManager.forceRepaint()
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# get predicted dishes
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predicted_dishes = self.predict_order(order, kitchen)
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predicted_orders.append(predicted_dishes)
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# check if all predicted orders were really ordered
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matched_targets = self.match_predicted_orders(predicted_orders)
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# get positions to matched orders (X,Y): dish
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order_positions = self.get_order_targets(matched_targets)
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self.set_next_waiter_positions(waiter, order_positions)
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# set new ready paths to waiter
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# self.set_next_waiter_targets(waiter, matched_targets)
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self._kitchen_manager.stop()
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self._table_manager.resume()
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self._table_manager.join()
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# TODO: recognize images
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all_tables = self.__drawableManager.getTables(Status.Waiting)
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for table in all_tables:
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# order = table.get_order()
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# print("Table: {}\norder: {}".format(table, order))
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pass
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# TODO: choose proper tableo
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# TODO: set path to tables, another target
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time.sleep(5)
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self._kitchen_manager.stop()
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kitchen.clear_orders()
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waiter.make_ready()
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waiter.set_target('table')
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else:
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elif waiter.get_target() not in ['return_order', 'check']:
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self.__collectOrder(waiter)
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def stop(self):
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