waiter recognizes images, checks prediction, serves dish with correlated table

kelner/main.py

@@ -34,7 +34,6 @@ load_model_thread.start()
 # joining this thread to main thread. Man thread will be started after this finish
 load_model_thread.join()
 
-
 # initialize drawable objects manager
 drawableManager = DrawableCollection()
 

kelner/src/algorithms/CNN/ModelPrediction.py

@@ -5,7 +5,6 @@ import numpy as np
 import kelner.src.settings as settings
 
 
-
 class Predictor:
     def __init__(self, food_list):
         self._food_list = food_list
@@ -26,7 +25,6 @@ class Predictor:
             print("THIS IS A:{}".format(pred_value))
 
     def predict_class(self, img):
-
         img = image.load_img(img, target_size=(224, 224))
         img = image.img_to_array(img)
         img = np.expand_dims(img, axis=0)
@@ -38,3 +36,4 @@ class Predictor:
         pred_value = self._food_list[index]
         # print("Pred: {}, index: {}, pred_value:{}".format(pred, index, pred_value))
         print("THIS IS A:{}".format(pred_value))
+        return pred_value

kelner/src/components/Drawable.py

@@ -36,6 +36,9 @@ class Drawable:
     def getY(self):
         return self.__y
 
+    def get_posistion(self):
+        return self.getX(), self.getY()
+
     def getMinX(self):
         return self.__minX
 

kelner/src/components/Table.py

@@ -5,6 +5,7 @@ from kelner.src.components.Drawable import Drawable
 from kelner.src.managers.ImageCache import ImageCache, Images
 from kelner.src.algorithms.DecisionTree import Tree_Builder
 
+
 # status of the table
 class Status(Enum):
     NotReady = 0
@@ -24,17 +25,16 @@ class Table(Drawable):
         self.__tableLock = Lock()
         self.__zainteresowania = []
 
-
         # Build a Decision Tree
         self.Decision_Tree = Tree_Builder.build_tree(Tree_Builder.training_db)
 
-        #Generates Hobbys
+        # Generates Hobbys
         for a in range(len(self.__guests)):
-            sport = random.randint(0,1)
+            sport = random.randint(0, 1)
-            czytanie = random.randint(0,1)
+            czytanie = random.randint(0, 1)
-            lucznictwo = random.randint(0,1)
+            lucznictwo = random.randint(0, 1)
-            boks = random.randint(0,1)
+            boks = random.randint(0, 1)
-            self.__zainteresowania.append([sport,czytanie,lucznictwo,boks, "A"])
+            self.__zainteresowania.append([sport, czytanie, lucznictwo, boks, "A"])
 
     ##def getOrder(self):
     ##    # Generates order
@@ -54,7 +54,7 @@ class Table(Drawable):
         return guests
 
     # waiter collects orders from table
-    #def getOrder(self):
+    # def getOrder(self):
     #    order = None
     #    if self.__tableLock.acquire(False):
     #        try:
@@ -87,9 +87,7 @@ class Table(Drawable):
     def get_order(self):
         return self.__order
 
-
+    # def getOrder(self):
-
-    #def getOrder(self):
     #    order = None
     #    if self.__tableLock.acquire(False):
     #        try:

kelner/src/components/Waiter.py

@@ -4,12 +4,12 @@ from kelner.src.managers.ImageCache import ImageCache, Images
 
 
 class Direction:
-    LeftUp    = (-1,-1)
+    LeftUp = (-1, -1)
-    Up        = ( 0,-1)
+    Up = (0, -1)
-    RightUp   = ( 1,-1)
+    RightUp = (1, -1)
-    Right     = ( 1, 0)
+    Right = (1, 0)
-    RightDown = ( 1, 1)
+    RightDown = (1, 1)
-    Down      = ( 0, 1)
+    Down = (0, 1)
     LeftDown = (-1, 1)
     Left = (-1, 0)
 
@@ -25,6 +25,8 @@ class Waiter(Drawable):
         self.__currentPath = []
         self._ready = True
         self._target = 'table'
+        self._remaining_targets = []
+        self._remaining_positions = []
 
     def moveUp(self):
         if self.getY() > self.getMinY():
@@ -77,7 +79,6 @@ class Waiter(Drawable):
     def getDirection(self):
         return self.__dx, self.__dy
 
-
     def setDirection(self, dx, dy):
         self.__dx = dx
         self.__dy = dy
@@ -135,7 +136,6 @@ class Waiter(Drawable):
     def clear_accepted_orders(self):
         self.__acceptedOrders.clear()
 
-
     def draw(self, screen):
         direction = self.getDirection()
         imageKind = None
@@ -186,3 +186,15 @@ class Waiter(Drawable):
 
     def set_target(self, target):
         self._target = target
+
+    def add_remaining_target(self, target):
+        self._remaining_targets.append(target)
+
+    def get_remaining_targets(self):
+        return self._remaining_targets
+
+    def add_remaining_position(self, target):
+        self._remaining_positions.append(target)
+
+    def get_remaining_positions(self):
+        return self._remaining_positions

kelner/src/managers/DrawableCollection.py

@@ -101,7 +101,7 @@ class DrawableCollection:
         nearestTables = []
         tables = self.getTables(tableStatus)
         for table in tables:
-            if (table.getX() == waiter.getX() and abs(table.getY() - waiter.getY()) == 1) or\
+            if (table.getX() == waiter.getX() and abs(table.getY() - waiter.getY()) == 1) or \
                     (table.getY() == waiter.getY() and abs(table.getX() - waiter.getX()) == 1):
                 nearestTables.append(table)
         return nearestTables

kelner/src/managers/TableManager.py

@@ -12,21 +12,31 @@ class TableManager(threading.Thread):
         self.__drawableManager = drawableManager
         self.__menuManager = menuManager
         self.__runThread = True
+        self._active = True
 
     # changes the status of a random table from NotReady to Ready
     def run(self):
         while self.__runThread:
             tables = self.__drawableManager.getTables(Status.NotReady)
+            if not self._active:
+                time.sleep(5)
+            else:
                 if tables:
                     tableIndex = random.randint(0, len(tables) - 1)
                     table = tables[tableIndex]
-                time.sleep(5)
+                    time.sleep(7)
                     table.setOrder(self.__menuManager.generateOrder())
                     table.setStatus(Status.Ready)
                     self.__drawableManager.forceRepaint()
 
-    def stop(self):
+    def get_table(self, position):
-        self.__runThread = False
+        tables = self.__drawableManager.getTables(Status.Waiting)
+        for table in tables:
+            if (table.getX(), table.getY()) == position:
+                return table
+
+    def pause(self):
+        self._active = False
 
     def resume(self):
-        self.__runThread = True
+        self._active = True

kelner/src/managers/WaiterManager.py

@@ -23,16 +23,16 @@ class WaiterManager(threading.Thread):
     def __getNearestTargetPath(self, waiter, target):
         distance = sys.maxsize
         nearestTargetPath = None
-        tables = self.__drawableManager.getTables(Status.Ready)
-        if tables:
         reservedPlaces = self.__drawableManager.getReservedPlaces(waiter)
+        tables = self.__drawableManager.getTables(Status.Ready)
         finder = Finder(reservedPlaces)
         origin = (waiter.getX(), waiter.getY())
         if target == 'kitchen':
             path = finder.getPath(origin, (14, 1), True)
             path2 = finder.getPath(origin, (13, 0), True)
             path = path2 if len(path) > len(path2) else path
-            else:
+            return path
+        if tables:
             for table in tables:
                 if table.hasOrder():
                     targets = finder.getNeighbours((table.getX(), table.getY()), False)
@@ -44,8 +44,20 @@ class WaiterManager(threading.Thread):
                                 if result < distance:
                                     distance = result
                                     nearestTargetPath = path
+
         return nearestTargetPath
 
+    def get_specified_path(self, waiter, table):
+        reserved_places = self.__drawableManager.getReservedPlaces(waiter)
+        finder = Finder(reserved_places)
+        origin = (waiter.getX(), waiter.getY())
+        targets = finder.getNeighbours((table[0], table[1]), False)
+        for target in targets:
+            if target is not None:
+                path = finder.getPath(origin, target, True)
+                if path:
+                    return path
+
     def __changeWaiterDirection(self, waiter, x, y):
         targetDirection = x - waiter.getX(), y - waiter.getY()
         originDirection = waiter.getDirection()
@@ -107,22 +119,74 @@ class WaiterManager(threading.Thread):
         print("Ready to go")
         return ready_orders
 
-    def predict_orders(self, orders, waiter):
+    def predict_order(self, order, kitchen):
-        pass
+        food_list = self._menu_manager.get_menu()
+        image_predictor = Predictor(food_list)
+        paths = self._kitchen_manager.draw_single_order(order, kitchen)
+        predicted_dishes = []
+        self._kitchen_manager.run()
+        self._table_manager.pause()
+        # print("Printed images paths: {}".format(paths))
+        if paths is not None:
+            for img_path in paths:
+                predicted_dish = image_predictor.predict_class(img_path)
+                predicted_dishes.append(predicted_dish)
+        self.__drawableManager.forceRepaint()
+        return predicted_dishes
 
+    def match_predicted_orders(self, predicted_orders):
+        all_tables = self.__drawableManager.getTables(Status.Waiting)
+        located_orders = dict()
+
+        for p_order in predicted_orders:
+            p_order.sort()
+            for table in all_tables:
+                table_dishes = table.get_order()
+                table_dishes.sort()
+
+                if p_order == table_dishes:
+                    located_orders[table] = p_order
+        return located_orders
+
+    def get_order_targets(self, orders):
+        targets = dict()
+        for table, dishes in orders.items():
+            targets[table.get_posistion()] = dishes
+        return targets
+
+    def set_next_waiter_targets(self, waiter, matched_targets):
+        for table in matched_targets.keys():
+            path = self.get_specified_path(waiter, table)
+            waiter.add_remaining_target(path)
+
+    def set_next_waiter_positions(self, waiter, matched_positions):
+        for position in matched_positions.keys():
+            waiter.add_remaining_position(position)
 
     # changes the status of a random table from NotReady to Ready
     def run(self):
         while self.__runThread:
             if self.__waiters:
                 for waiter in self.__waiters:
-                    if len(waiter.getAcceptedOrders()) > 0:
+
+                    if len(waiter.getAcceptedOrders()) > 1:
                         waiter.set_target('kitchen')
                         path = self.__getNearestTargetPath(waiter, target=waiter.get_target())
                         waiter.make_busy()
-
                     else:
+                        if waiter.get_target() == 'return_order' and waiter.isPathEmpty():
+                            print("Order returned")
+                            table = self._table_manager.get_table(waiter.get_remaining_positions()[0])
+                            table.setStatus(Status.Served)
+                            waiter.get_remaining_positions().pop(0)
+
+                        if not waiter.get_remaining_positions() == []:
+                            waiter.set_target('return_order')
+                            path = self.get_specified_path(waiter, waiter.get_remaining_positions()[0])
+                        else:
+                            waiter.set_target('table')
                             path = self.__getNearestTargetPath(waiter, target='table')
+
                     waiter.setPath([] if path is None else path)
 
                     if not waiter.isPathEmpty():
@@ -133,51 +197,36 @@ class WaiterManager(threading.Thread):
                     # check if waiter is near kitchen
                     if (waiter.getX(), waiter.getY()) == (14, 1) or (waiter.getX(), waiter.getY()) == (13, 0):
                         if waiter.get_target() == 'kitchen':
-
+                            self._table_manager.pause()
                             kitchen = self.__drawableManager.get_kitchen()
                             waiter_orders = waiter.getAcceptedOrders()
-                            print("Waiter near kitchen. Collected orders: {}".format(waiter_orders))
+                            # print("Waiter near kitchen. Collected orders: {}".format(waiter_orders))
                             kitchen.add_orders(waiter_orders)
                             received_orders = kitchen.get_ready_orders()
                             waiter.clear_accepted_orders()
                             if received_orders:
-                                # self._kitchen_manager.draw_orders(received_orders)
+                                predicted_orders = []
-                                # paths = self._kitchen_manager.draw_orders(received_orders,  kitchen)
-                                food_list = self._menu_manager.get_menu()
-                                ImagePredictor = Predictor(food_list)
-
                                 for order in received_orders:
-                                    paths = self._kitchen_manager.draw_single_order(order, kitchen)
+                                    # get predicted dishes
-                                    self._kitchen_manager.run()
+                                    predicted_dishes = self.predict_order(order, kitchen)
-                                    self._table_manager.stop()
+                                    predicted_orders.append(predicted_dishes)
-                                    # print("Printed images paths: {}".format(paths))
+
-                                    if paths is not None:
+                                # check if all predicted orders were really ordered
-                                        for img_path in paths:
+                                matched_targets = self.match_predicted_orders(predicted_orders)
-                                            ImagePredictor.predict_class(img_path)
+                                # get positions to matched orders (X,Y): dish
-                                    self.__drawableManager.forceRepaint()
+                                order_positions = self.get_order_targets(matched_targets)
+                                self.set_next_waiter_positions(waiter, order_positions)
+
+                                # set new ready paths to waiter
+                                # self.set_next_waiter_targets(waiter, matched_targets)
+
                                 self._kitchen_manager.stop()
                                 self._table_manager.resume()
-                                self._table_manager.join()
-
-                                # TODO: recognize images
-
-                                all_tables = self.__drawableManager.getTables(Status.Waiting)
-                                for table in all_tables:
-                                    # order = table.get_order()
-                                    # print("Table: {}\norder: {}".format(table, order))
-                                    pass
-
-                                # TODO: choose proper tableo
-
-                                # TODO: set path to tables, another target
-
-                                time.sleep(5)
-                                self._kitchen_manager.stop()
 
                             kitchen.clear_orders()
                             waiter.make_ready()
                             waiter.set_target('table')
-                    else:
+                    elif waiter.get_target() not in ['return_order', 'check']:
                         self.__collectOrder(waiter)
 
     def stop(self):