Obracanie kelnera (algorytm i grafika). Kilku kelnerów może chodzić równocześnie. Tooltip z ilością zebranych zamówień.

.idea/ProjektAI.iml

@@ -2,7 +2,7 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7 (WaiterMaster)" jdkType="Python SDK" />
+    <orderEntry type="jdk" jdkName="Python 3.7 (venv)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="TestRunnerService">

.idea/misc.xml

@@ -3,5 +3,5 @@
   <component name="JavaScriptSettings">
     <option name="languageLevel" value="ES6" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (WaiterMaster)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (venv)" project-jdk-type="Python SDK" />
 </project>

kelner/main.py

@@ -26,24 +26,39 @@ drawableManager = DrawableCollection()
 menuManager = MenuManager()
 
 # initialize waiter component
-waiter = Waiter(0, 0, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+waiter1 = Waiter(0, 0, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+waiter2 = Waiter(0, 1, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+waiter3 = Waiter(0, 2, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+waiter4 = Waiter(0, 3, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
 
 # adds waiter to drawable collection
-drawableManager.add(waiter)
+drawableManager.add(waiter1)
+drawableManager.add(waiter2)
+drawableManager.add(waiter3)
+drawableManager.add(waiter4)
 
 # initialize a number of tables given in range
-for i in range(1, 45):
+for i in range(1, 40):
     table = Table(0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
-    drawableManager.generatePosition(table)
+    if drawableManager.generatePosition(table):
-    drawableManager.add(table)
+        drawableManager.add(table)
 
 # new thread controlling tables
 tableTask = TableManager(drawableManager, menuManager)
 tableTask.start()
 
 # new thread controlling waiter
-waiterTask = WaiterManager(drawableManager)
+waiter1Task = WaiterManager(drawableManager, [waiter1])
-waiterTask.start()
+waiter1Task.start()
+
+waiter2Task = WaiterManager(drawableManager, [waiter2])
+waiter2Task.start()
+
+waiter3Task = WaiterManager(drawableManager, [waiter3])
+waiter3Task.start()
+
+waiter4Task = WaiterManager(drawableManager, [waiter4])
+waiter4Task.start()
 
 # main loop
 running = True
@@ -52,27 +67,51 @@ while running:
     for event in pygame.event.get():
         if event.type == pygame.QUIT:
             tableTask.stop()
-            waiterTask.stop()
+            waiter1Task.stop()
+            waiter2Task.stop()
+            waiter3Task.stop()
+            waiter4Task.stop()
             running = False
 
         # handles keyboard events
         if event.type == pygame.KEYDOWN:
             if event.key == pygame.K_LEFT:
                 # checks if new waiter's position to the left is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter.getX() - 1, waiter.getY()):
+                if drawableManager.isPositionAvailable(waiter1.getX() - 1, waiter1.getY()):
-                    waiter.moveLeft()
+                    waiter1.moveLeft()
             if event.key == pygame.K_RIGHT:
                 # checks if new waiter's position to the right is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter.getX() + 1, waiter.getY()):
+                if drawableManager.isPositionAvailable(waiter1.getX() + 1, waiter1.getY()):
-                    waiter.moveRight()
+                    waiter1.moveRight()
             if event.key == pygame.K_UP:
                 # checks if new waiter's position up is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter.getX(), waiter.getY() - 1):
+                if drawableManager.isPositionAvailable(waiter1.getX(), waiter1.getY() - 1):
-                    waiter.moveUp()
+                    waiter1.moveUp()
             if event.key == pygame.K_DOWN:
                 # checks if new waiter's position down is not occupied by other object
-                if drawableManager.isPositionAvailable(waiter.getX(), waiter.getY() + 1):
+                if drawableManager.isPositionAvailable(waiter1.getX(), waiter1.getY() + 1):
-                    waiter.moveDown()
+                    waiter1.moveDown()
+
+            if event.key == pygame.K_w:
+                # checks if new waiter's position to the left is not occupied by other object
+                if drawableManager.isPositionAvailable(waiter1.getX() - 1, waiter1.getY() - 1):
+                    waiter1.moveLeft()
+                    waiter1.moveUp()
+            if event.key == pygame.K_d:
+                # checks if new waiter's position to the right is not occupied by other object
+                if drawableManager.isPositionAvailable(waiter1.getX() + 1, waiter1.getY() - 1):
+                    waiter1.moveRight()
+                    waiter1.moveUp()
+            if event.key == pygame.K_s:
+                # checks if new waiter's position up is not occupied by other object
+                if drawableManager.isPositionAvailable(waiter1.getX() + 1, waiter1.getY() + 1):
+                    waiter1.moveDown()
+                    waiter1.moveRight()
+            if event.key == pygame.K_a:
+                # checks if new waiter's position down is not occupied by other object
+                if drawableManager.isPositionAvailable(waiter1.getX() - 1, waiter1.getY() + 1):
+                    waiter1.moveDown()
+                    waiter1.moveLeft()
             drawableManager.forceRepaint()
 
     # repaints all objects to the screen

kelner/src/algorithms/AStar/Finder.py

@@ -10,7 +10,6 @@ class Finder:
         self._yMin = 0
         self._xMax = len(table[0]) - 1
         self._yMax = len(table) - 1
-        self.__isDiagonal = False
 
     def _set(self, x, y, v):
         self._table[y][x] = v
@@ -19,73 +18,82 @@ class Finder:
         return self._table[y][x]
 
     # returns right position relative to the node
-    def __incXnopY(self, node, neighbours):
+    def __incXnopY(self, node, direction, isDiagonal, neighbours):
         if node.x < self._xMax and self._get(node.x + 1, node.y) == 0:
-            neighbours.append(Node(node, node.x + 1, node.y, node.distance + 1))
+            turnsCount = self.getTurnsCount(direction, (1, 0), isDiagonal)
+            neighbours.append(Node(node, node.x + 1, node.y, node.distance + turnsCount + 1))
 
     # returns left position relative to the node
-    def __decXnopY(self, node, neighbours):
+    def __decXnopY(self, node, direction, isDiagonal, neighbours):
         if self._xMin < node.x and self._get(node.x - 1, node.y) == 0:
-            neighbours.append(Node(node, node.x - 1, node.y, node.distance + 1))
+            turnsCount = self.getTurnsCount(direction, (-1, 0), isDiagonal)
+            neighbours.append(Node(node, node.x - 1, node.y, node.distance + turnsCount + 1))
 
     # returns top position relative to the node
-    def __nopXincY(self, node, neighbours):
+    def __nopXincY(self, node, direction, isDiagonal, neighbours):
         if node.y < self._yMax and self._get(node.x, node.y + 1) == 0:
-            neighbours.append(Node(node, node.x, node.y + 1, node.distance + 1))
+            turnsCount = self.getTurnsCount(direction, (0, 1), isDiagonal)
+            neighbours.append(Node(node, node.x, node.y + 1, node.distance + turnsCount + 1))
 
     # returns bottom position relative to the node
-    def __nopXdecY(self, node, neighbours):
+    def __nopXdecY(self, node, direction, isDiagonal, neighbours):
         if self._yMin < node.y and self._get(node.x, node.y - 1) == 0:
-            neighbours.append(Node(node, node.x, node.y - 1, node.distance + 1))
+            turnsCount = self.getTurnsCount(direction, (0, -1), isDiagonal)
+            neighbours.append(Node(node, node.x, node.y - 1, node.distance + turnsCount + 1))
 
     # returns left top position relative to the node
-    def __decXdecY(self, node, neighbours):
+    def __decXdecY(self, node, direction, isDiagonal, neighbours):
         if (self._xMin < node.x and self._yMin < node.y and
                 self._get(node.x - 1, node.y - 1) == 0 and
                 self._get(node.x - 1, node.y) == 0 and
                 self._get(node.x, node.y - 1) == 0):
-            neighbours.append(Node(node, node.x - 1, node.y - 1, node.distance + 2))
+            turnsCount = self.getTurnsCount(direction, (-1, -1), isDiagonal)
+            neighbours.append(Node(node, node.x - 1, node.y - 1, node.distance + turnsCount + 2))
 
     # returns left bottom position relative to the node
-    def __decXincY(self, node, neighbours):
+    def __decXincY(self, node, direction, isDiagonal, neighbours):
         if (self._xMin < node.x and node.y < self._yMax and
                 self._get(node.x - 1, node.y + 1) == 0 and
                 self._get(node.x - 1, node.y) == 0 and
                 self._get(node.x, node.y + 1) == 0):
-            neighbours.append(Node(node, node.x - 1, node.y + 1, node.distance + 2))
+            turnsCount = self.getTurnsCount(direction, (-1, 1), isDiagonal)
+            neighbours.append(Node(node, node.x - 1, node.y + 1, node.distance + turnsCount + 2))
 
     # returns right bottom position relative to the node
-    def __incXincY(self, node, neighbours):
+    def __incXincY(self, node, direction, isDiagonal, neighbours):
         if (node.x < self._xMax and node.y < self._yMax and
                 self._get(node.x + 1, node.y + 1) == 0 and
                 self._get(node.x + 1, node.y) == 0 and
                 self._get(node.x, node.y + 1) == 0):
-            neighbours.append(Node(node, node.x + 1, node.y + 1, node.distance + 2))
+            turnsCount = self.getTurnsCount(direction, (1, 1), isDiagonal)
+            neighbours.append(Node(node, node.x + 1, node.y + 1, node.distance + turnsCount + 2))
 
     # returns right top position relative to the node
-    def __incXdecY(self, node, neighbours):
+    def __incXdecY(self, node, direction, isDiagonal, neighbours):
         if (node.x < self._xMax and self._yMin < node.y and
                 self._get(node.x + 1, node.y - 1) == 0 and
                 self._get(node.x + 1, node.y) == 0 and
                 self._get(node.x, node.y - 1) == 0):
-            neighbours.append(Node(node, node.x + 1, node.y - 1, node.distance + 2))
+            turnsCount = self.getTurnsCount(direction, (1, -1), isDiagonal)
+            neighbours.append(Node(node, node.x + 1, node.y - 1, node.distance + turnsCount + 2))
 
     # returns all plausible positions relative to the node
-    def __getNeighbours(self, node):
+    def __getNeighbours(self, node, isDiagonal):
+        direction = node.getDirection()
         neighbours = []
-        self.__nopXincY(node, neighbours)
+        self.__nopXincY(node, direction, isDiagonal, neighbours)
-        self.__incXnopY(node, neighbours)
+        self.__incXnopY(node, direction, isDiagonal, neighbours)
-        self.__decXnopY(node, neighbours)
+        self.__decXnopY(node, direction, isDiagonal, neighbours)
-        self.__nopXdecY(node, neighbours)
+        self.__nopXdecY(node, direction, isDiagonal, neighbours)
-        if self.__isDiagonal:
+        if isDiagonal:
-            self.__decXdecY(node, neighbours)
+            self.__decXdecY(node, direction, isDiagonal, neighbours)
-            self.__decXincY(node, neighbours)
+            self.__decXincY(node, direction, isDiagonal, neighbours)
-            self.__incXincY(node, neighbours)
+            self.__incXincY(node, direction, isDiagonal, neighbours)
-            self.__incXdecY(node, neighbours)
+            self.__incXdecY(node, direction, isDiagonal, neighbours)
         return neighbours
 
     # main algorithm - simplification of well known A*
-    def __getPath(self, origin, target):
+    def __getPath(self, origin, target, isDiagonal):
         Q = PriorityQueue()
         V = set()
         Q.put(origin)
@@ -94,29 +102,36 @@ class Finder:
             if head == target:
                 return head
             V.add(head)
-            for node in self.__getNeighbours(head):
+            for node in self.__getNeighbours(head, isDiagonal):
                 if node not in V:
                     node.estimated = node.distance + node.getDistanceTo(target)
                     Q.put(node)
                     V.add(node)
         return None
 
+    # returns the number of turns to change direction from old to new
+    @staticmethod
+    def getTurnsCount(oldDirection, newDirection, isDiagonal):
+        if oldDirection == (0, 0) or oldDirection == newDirection:
+            return 0
+        if 0 == oldDirection[0] + newDirection[0] and 0 == oldDirection[1] + newDirection[1]:
+            return 4 if isDiagonal else 2
+        return abs(newDirection[0] - oldDirection[0]) + abs(newDirection[1] - oldDirection[1]) if isDiagonal else 1
+
     # returns neighbours for locationXY-tuple as list of tuple(x,y)
     def getNeighbours(self, locationXY, isDiagonal):
         neighboursXY = []
-        self.__isDiagonal = isDiagonal
         location = Node(None, locationXY[0], locationXY[1], 0)
-        neighbours = self.__getNeighbours(location)
+        neighbours = self.__getNeighbours(location, isDiagonal)
         for neighbour in neighbours:
             neighboursXY.append((neighbour.x, neighbour.y))
         return neighboursXY
 
     # returns the shortest path as list of tuple(x,y) from originXY-tuple to targetXY-tuple
     def getPath(self, originXY, targetXY, isDiagonal):
-        self.__isDiagonal = isDiagonal
         origin = Node(None, originXY[0], originXY[1], 0)
         target = Node(None, targetXY[0], targetXY[1], 0)
-        result = self.__getPath(origin, target)
+        result = self.__getPath(origin, target, isDiagonal)
         path = []
         while result is not None:
             if result.parent is not None:

kelner/src/algorithms/AStar/FinderTest.py

@@ -1,4 +1,4 @@
-from random import randint
+import random
 from kelner.src.algorithms.AStar.Finder import Finder
 
 
@@ -23,8 +23,8 @@ class FinderTest(Finder):
 
     def getRandomTuple(self):
         while True:
-            x = randint(self._xMin, self._xMax)
+            x = random.randint(self._xMin, self._xMax)
-            y = randint(self._yMin, self._yMax)
+            y = random.randint(self._yMin, self._yMax)
             if self._get(x, y) == 0:
                 break
         return x, y
@@ -33,8 +33,8 @@ class FinderTest(Finder):
         xSet = [self._xMin, self._xMax]
         ySet = [self._yMin, self._yMax]
         while True:
-            x = randint(self._xMin, self._xMax)
+            x = random.randint(self._xMin, self._xMax)
-            y = randint(self._yMin, self._yMax)
+            y = random.randint(self._yMin, self._yMax)
             if (x in xSet or y in ySet) and self._get(x, y) == 0:
                 break
         return x, y
@@ -42,8 +42,8 @@ class FinderTest(Finder):
     def fillRandom(self):
         for _ in range(120):
             while True:
-                x = randint(self._xMin, self._xMax)
+                x = random.randint(self._xMin, self._xMax)
-                y = randint(self._yMin, self._yMax)
+                y = random.randint(self._yMin, self._yMax)
                 if self._get(x, y) == 0:
                     break
             self._set(x, y, 1)

kelner/src/algorithms/AStar/Node.py

@@ -17,6 +17,12 @@ class Node:
         return sqrt(dx * dx + dy * dy)
         # abs(dx) + abs(dy)
 
+    def getDirection(self):
+        if self.parent is None:
+            return 0, 0
+        else:
+            return self.x - self.parent.x, self.y - self.parent.y
+
     # used by str() method to represent the object
     def __repr__(self):
         return "%s:%s" % (self.x, self.y)

kelner/src/components/Drawable.py

@@ -10,10 +10,10 @@ class Drawable:
         self.__maxX = maxX
         self.__minY = minY
         self.__maxY = maxY
-        self.setX(x)
+        self.__x = x
-        self.setY(y)
+        self.__y = y
-        self.__cellSize  = cellSize  # cell size in pixels
+        self.__cellSize = cellSize  # cell size in pixels
-        self.__offset = offset       # paint offset in pixels
+        self.__offset = offset      # paint offset in pixels
 
     def setX(self, x):
         if x < self.__minX or self.__maxX < x:

kelner/src/components/Waiter.py

@@ -1,18 +1,35 @@
+import random
+
+import pygame
+
 from kelner.src.components.Drawable import Drawable
 from kelner.src.managers.ImageCache import ImageCache, Images
 
+class Direction:
+    LeftUp    = (-1,-1)
+    Up        = ( 0,-1)
+    RightUp   = ( 1,-1)
+    Right     = ( 1, 0)
+    RightDown = ( 1, 1)
+    Down      = ( 0, 1)
+    LeftDown  = (-1, 1)
+    Left      = (-1, 0)
+
 
 class Waiter(Drawable):
 
     def __init__(self, x, y, minX, maxX, minY, maxY, ratio, offset):
         # call base class constructor
         super().__init__(x, y, minX, maxX, minY, maxY, ratio, offset)
+        self.__dx = Direction.Down[0]
+        self.__dy = Direction.Down[1]
         self.__acceptedOrders = []
         self.__currentPath = []
 
     def moveUp(self):
         if self.getY() > self.getMinY():
             self.setY(self.getY() - 1)
+            self.setX(self.getX())
             return True
         else:
             return False
@@ -20,6 +37,7 @@ class Waiter(Drawable):
     def moveDown(self):
         if self.getY() < self.getMaxY():
             self.setY(self.getY() + 1)
+            self.setX(self.getX())
             return True
         else:
             return False
@@ -27,6 +45,7 @@ class Waiter(Drawable):
     def moveLeft(self):
         if self.getX() > self.getMinX():
             self.setX(self.getX() - 1)
+            self.setY(self.getY())
             return True
         else:
             return False
@@ -34,10 +53,56 @@ class Waiter(Drawable):
     def moveRight(self):
         if self.getX() < self.getMaxX():
             self.setX(self.getX() + 1)
+            self.setY(self.getY())
             return True
         else:
             return False
 
+    def setX(self, x):
+        oldX = self.getX()
+        if super().setX(x):
+            self.__dx = x - oldX
+            return True
+        else:
+            return False
+
+    def setY(self, y):
+        oldY = self.getY()
+        if super().setY(y):
+            self.__dy = y - oldY
+            return True
+        else:
+            return False
+
+    def getDirection(self):
+        return self.__dx, self.__dy
+
+    def setDirection(self, dx, dy):
+        self.__dx = dx
+        self.__dy = dy
+
+    def getNextDirection(self, oldDirectionXY, newDirectionXY, isDiagonal):
+        if oldDirectionXY == (0, 0) or oldDirectionXY == newDirectionXY:
+            return None
+        if 0 == oldDirectionXY[0]:
+            if 0 == newDirectionXY[0]:
+                return random.choice([-1, 1]), oldDirectionXY[1] if isDiagonal else 0
+            else:
+                dx = newDirectionXY[0] - oldDirectionXY[0]
+                return +1 if dx > 0 else -1, oldDirectionXY[1] if isDiagonal else 0
+        if 0 == oldDirectionXY[1]:
+            if 0 == newDirectionXY[1]:
+                return oldDirectionXY[0] if isDiagonal else 0, random.choice([-1, 1])
+            else:
+                dy = newDirectionXY[1] - oldDirectionXY[1]
+                return oldDirectionXY[0] if isDiagonal else 0, +1 if dy > 0 else -1
+        if 0 == oldDirectionXY[0] + newDirectionXY[0] and 0 == oldDirectionXY[1] + newDirectionXY[1]:
+            return random.choice([(oldDirectionXY[0], 0), (0, oldDirectionXY[1])])
+        else:
+            dx = newDirectionXY[0] - oldDirectionXY[0]
+            dy = newDirectionXY[1] - oldDirectionXY[1]
+            return (0, oldDirectionXY[1]) if abs(dx) > abs(dy) else (oldDirectionXY[0], 0)
+
     # accepts orders from the table and stores them in queue
     def addOrder(self, table):
         self.__acceptedOrders += [(table, table.getOrder())]
@@ -52,7 +117,47 @@ class Waiter(Drawable):
         return self.__currentPath.pop(0)
 
     def draw(self, screen):
-        imageWaiter = ImageCache.getInstance().getImage(Images.Waiter, self.getCellSize(), self.getCellSize())
+        direction = self.getDirection()
-        xBase = self.getX() * self.getCellSize() + self.getOffset()
+        imageKind = None
-        yBase = self.getY() * self.getCellSize() + self.getOffset()
+        if direction == Direction.LeftUp:
-        screen.blit(imageWaiter, (xBase, yBase))
+            imageKind = Images.WaiterLeftUp
+        elif direction == Direction.Up:
+            imageKind = Images.WaiterUp
+        elif direction == Direction.RightUp:
+            imageKind = Images.WaiterRightUp
+        elif direction == Direction.Right:
+            imageKind = Images.WaiterRight
+        elif direction == Direction.RightDown:
+            imageKind = Images.WaiterRightDown
+        elif direction == Direction.Down:
+            imageKind = Images.WaiterDown
+        elif direction == Direction.LeftDown:
+            imageKind = Images.WaiterLeftDown
+        elif direction == Direction.Left:
+            imageKind = Images.WaiterLeft
+
+        imageWaiter = ImageCache.getInstance().getImage(imageKind, self.getCellSize(), self.getCellSize())
+        self.__xBase = self.getX() * self.getCellSize() + self.getOffset()
+        self.__yBase = self.getY() * self.getCellSize() + self.getOffset()
+        screen.blit(imageWaiter, (self.__xBase, self.__yBase))
+
+    def drawAux(self, screen):
+        toolTipWidth = int(0.4 * self.getCellSize())
+        toolTipHeight = int(0.2 * self.getCellSize())
+        toolTipXOffset = int(0.6 * self.getCellSize())
+        toolTipYOffset = - int(0.1 * self.getCellSize())
+
+        imageToolTip = ImageCache.getInstance().getImage(Images.ToolTip, toolTipWidth, toolTipHeight)
+        screen.blit(imageToolTip, (self.__xBase + toolTipXOffset, self.__yBase + toolTipYOffset))
+
+        font = pygame.font.SysFont('comicsansms', 24, True)
+        imageText = font.render(str(len(self.__acceptedOrders)), True, (204, 0, 0))
+        size = imageText.get_size()
+        ratio = 0.9 * toolTipHeight
+        textWidth = int((ratio / size[1]) * size[0])
+        textHeight = int(ratio)
+        imageText = pygame.transform.scale(imageText, (textWidth, textHeight))
+
+        textXOffset = toolTipXOffset + int((toolTipWidth - textWidth) / 2)
+        textYOffset = toolTipYOffset + int(0.05 * toolTipHeight)
+        screen.blit(imageText, (self.__xBase + textXOffset, self.__yBase + textYOffset))

kelner/src/managers/DrawableCollection.py

@@ -1,4 +1,6 @@
 import random
+from threading import Lock
+
 from kelner.src.components.Table import Table, Status
 from kelner.src.components.Waiter import Waiter
 
@@ -6,13 +8,15 @@ from kelner.src.components.Waiter import Waiter
 # drawable objects manager
 class DrawableCollection:
     # const, minimal distance between objects
-    __MinDistanceX = 0
+    __MinDistanceX = 1
     __MinDistanceY = 0
 
     def __init__(self):
         # collection that holds all drawable objects
         self.__mustRepaint = True
         self.__drawables = []
+        self.__waiterLock = Lock()
+        self.__tableLock = Lock()
 
     # adds drawable objects to the collection
     def add(self, drawable):
@@ -21,6 +25,7 @@ class DrawableCollection:
     # generates and sets random (x, y) and cheks if it's not occupied by other object
     def generatePosition(self, drawable):
         isPositionUnique = False
+        attempt = 0
         while not isPositionUnique:
             x = random.randint(drawable.getMinX() + 1, drawable.getMaxX() - 1)
             y = random.randint(drawable.getMinY() + 1, drawable.getMaxY() - 1)
@@ -32,6 +37,11 @@ class DrawableCollection:
             if isPositionUnique:
                 drawable.setX(x)
                 drawable.setY(y)
+                return True
+            else:
+                attempt += 1
+                if attempt > 40:
+                    return False
 
     # checks if position (x,y) is not occupied by other object
     def isPositionAvailable(self, x, y):
@@ -58,17 +68,6 @@ class DrawableCollection:
                 result += [item]
         return result
 
-    # waiter collects orders from all nearest tables
-    def collectOrders(self):
-        waiters = self.getWaiters()
-        for waiter in waiters:
-            tables = self.getTables(Status.Ready)
-            for table in tables:
-                if (table.getX() == waiter.getX() and abs(table.getY() - waiter.getY()) == 1) or (table.getY() == waiter.getY() and abs(table.getX() - waiter.getX()) == 1):
-                    table.setStatus(Status.Waiting)
-                    waiter.addOrder(table)
-                    table.delOrder()
-
     # returns table: 0 - position is available, 1 - position is occupied
     def getReservedPlaces(self, waiter):
         cols = waiter.getMaxX() - waiter.getMinX() + 1
@@ -78,8 +77,51 @@ class DrawableCollection:
         if tables:
             for table in tables:
                 reservedPlaces[table.getY()][table.getX()] = 1
+        waiters = self.getWaiters()
+        if waiters:
+            for other in waiters:
+                if other is not waiter:
+                    reservedPlaces[other.getY()][other.getX()] = 1
         return reservedPlaces
 
+    def getNearestTables(self, waiter, tableStatus):
+        nearestTables = []
+        tables = self.getTables(tableStatus)
+        for table in tables:
+            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
+
+    # waiter collects orders from table
+    def collectOrder(self, waiter, table):
+        result = False
+        self.__tableLock.acquire()
+        try:
+            if table.isStatus(Status.Ready) and table.getOrder() != []:
+                waiter.addOrder(table)
+                table.delOrder()
+                result = True
+        finally:
+            self.__tableLock.release()
+        return result
+
+    def moveWaiter(self, someWaiter, x, y):
+        isPositionAvailable = True
+        waiters = self.getWaiters()
+        self.__waiterLock.acquire()
+        try:
+            for waiter in waiters:
+                if waiter is not someWaiter:
+                    if waiter.getX() == x and waiter.getY() == y:
+                        isPositionAvailable = False
+                        break
+            if isPositionAvailable:
+                someWaiter.setX(x)
+                someWaiter.setY(y)
+        finally:
+            self.__waiterLock.release()
+
     # the method is called externally and forces repainting
     def forceRepaint(self):
         self.__mustRepaint = True

kelner/src/managers/ImageCache.py

@@ -5,14 +5,22 @@ from enum import Enum
 # images enum
 class Images(Enum):
     Background = 0
-    Waiter = 1
+    WaiterLeftUp = 1
-    Table = 2
+    WaiterUp = 2
-    Menu = 3
+    WaiterRightUp = 3
-    Check = 4
+    WaiterRight = 4
-    Plate = 5
+    WaiterRightDown = 5
-    Guest1 = 6
+    WaiterDown = 6
-    Guest2 = 7
+    WaiterLeftDown = 7
-    Guest3 = 8
+    WaiterLeft = 8
+    Table = 9
+    Menu = 10
+    Check = 11
+    Plate = 12
+    Guest1 = 13
+    Guest2 = 14
+    Guest3 = 15
+    ToolTip = 16
 
 
 class ImageCache:
@@ -31,15 +39,23 @@ class ImageCache:
         else:
             ImageCache.__instance = self
             self.__images = {}
-            self.__paths = {Images.Background: './images/Backgroud.png',
+            self.__paths = {Images.Background:       './images/Backgroud.png',
-                            Images.Waiter:     './images/kelner.png',
+                            Images.WaiterLeftUp:     './images/kelner_full_LU.png',
-                            Images.Table:      './images/stol.png',
+                            Images.WaiterUp:         './images/kelner_full_U.png',
-                            Images.Menu:       './images/ksiazka.png',
+                            Images.WaiterRightUp:    './images/kelner_full_RU.png',
-                            Images.Check:      './images/check.png',
+                            Images.WaiterRight:      './images/kelner_full_R.png',
-                            Images.Plate:      './images/plate.png',
+                            Images.WaiterRightDown:  './images/kelner_full_RD.png',
-                            Images.Guest1:     './images/wiking_blond.png',
+                            Images.WaiterDown:       './images/kelner_full_D.png',
-                            Images.Guest2:     './images/wiking_rudy.png',
+                            Images.WaiterLeftDown:   './images/kelner_full_LD.png',
-                            Images.Guest3:     './images/wiking_rudy2.png'}
+                            Images.WaiterLeft:       './images/kelner_full_L.png',
+                            Images.Table:            './images/stol.png',
+                            Images.Menu:             './images/ksiazka.png',
+                            Images.Check:            './images/check.png',
+                            Images.Plate:            './images/plate.png',
+                            Images.Guest1:           './images/wiking_blond.png',
+                            Images.Guest2:           './images/wiking_rudy.png',
+                            Images.Guest3:           './images/wiking_rudy2.png',
+                            Images.ToolTip:          './images/tooltip.png'}
 
     def getImage(self, imageKind, width, height):
         key = str(imageKind.value) + ':' + str(width) + ':' + str(height)

kelner/src/managers/TableManager.py

@@ -20,7 +20,7 @@ class TableManager (threading.Thread):
             if tables:
                 tableIndex = random.randint(0, len(tables) - 1)
                 table = tables[tableIndex]
-                time.sleep(3)
+                time.sleep(1)
                 table.setStatus(Status.Ready)
                 table.setOrder(self.__menuManager.generateOrder())
                 self.__drawableManager.forceRepaint()

kelner/src/managers/WaiterManager.py

@@ -8,9 +8,10 @@ from kelner.src.algorithms.AStar.Finder import Finder
 # creates new thread
 class WaiterManager (threading.Thread):
 
-    def __init__(self, drawableManager):
+    def __init__(self, drawableManager, waiters):
         super().__init__()
         self.__drawableManager = drawableManager
+        self.__waiters = waiters
         self.__runThread = True
 
     def __getNearestTargetPath(self, waiter):
@@ -33,25 +34,60 @@ class WaiterManager (threading.Thread):
                                 nearestTargetPath = path
         return nearestTargetPath
 
+    def __changeWaiterDirection(self, waiter, x, y):
+        targetDirection = x - waiter.getX(), y - waiter.getY()
+        originDirection = waiter.getDirection()
+        while originDirection is not None:
+            originDirection = waiter.getNextDirection(originDirection, targetDirection, True)
+            if originDirection is not None:
+                time.sleep(0.3)
+                waiter.setDirection(originDirection[0], originDirection[1])
+                self.__drawableManager.forceRepaint()
+
+    def __moveWaiter(self, waiter, x, y):
+        time.sleep(0.4)
+        self.__drawableManager.moveWaiter(waiter, x, y)
+        self.__drawableManager.forceRepaint()
+
+    def __collectOrder(self, waiter):
+        doCollectOrder = True
+        while doCollectOrder:
+            tables = self.__drawableManager.getNearestTables(waiter, Status.Ready)
+            turns = sys.maxsize
+            lessTurnsTable = None
+            originDirection = waiter.getDirection()
+
+            for table in tables:
+                targetDirection = table.getX() - waiter.getX(), table.getY() - waiter.getY()
+                result = Finder.getTurnsCount(originDirection, targetDirection, True)
+                if result < turns:
+                    turns = result
+                    lessTurnsTable = table
+
+            if lessTurnsTable is not None:
+                tables.remove(lessTurnsTable)
+                self.__changeWaiterDirection(waiter, lessTurnsTable.getX(), lessTurnsTable.getY())
+                if self.__drawableManager.collectOrder(waiter, lessTurnsTable):
+                    time.sleep(2)
+                    lessTurnsTable.setStatus(Status.Waiting)
+                    self.__drawableManager.forceRepaint()
+            doCollectOrder = len(tables) > 0
+
     # changes the status of a random table from NotReady to Ready
     def run(self):
         while self.__runThread:
-            waiters = self.__drawableManager.getWaiters()
+            if self.__waiters:
-            if waiters:
+                for waiter in self.__waiters:
-                for waiter in waiters:
                     path = self.__getNearestTargetPath(waiter)
-                    if path is not None:
+                    waiter.setPath([] if path is None else path)
-                        waiter.setPath(path)
+
                     if not waiter.isPathEmpty():
                         step = waiter.popStepFromPath()
-                        time.sleep(0.4)
+                        self.__changeWaiterDirection(waiter, step[0], step[1])
-                        waiter.setX(step[0])
+                        self.__moveWaiter(waiter, step[0], step[1])
-                        waiter.setY(step[1])
+
-                        self.__drawableManager.forceRepaint()
                         if waiter.isPathEmpty():
-                            time.sleep(2)
+                            self.__collectOrder(waiter)
-                            self.__drawableManager.collectOrders()
-                            self.__drawableManager.forceRepaint()
 
     def stop(self):
         self.__runThread = False