Merge remote-tracking branch 'origin/master'

.idea/misc.xml

@@ -4,4 +4,7 @@
     <option name="languageLevel" value="ES6" />
   </component>
   <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (ProjektAI)" project-jdk-type="Python SDK" />
+  <component name="PyCharmProfessionalAdvertiser">
+    <option name="shown" value="true" />
+  </component>
 </project>

README.md

@@ -1,26 +0,0 @@
-## Table of contents
-* [General info](#general-info)
-* [Technologies](#technologies)
-* [Setup](#setup)
-
-## General info
-This is AI project of autonomic waiter that recognizes images of placed ordes with CNN algorithm. Orders are generated using the decision tree algoritm while tables by generic algorithm.
-
-Table of contents
-* [General info](#general-info)
-* [Technologies](#technologies)
-* [Setup](#setup)
-
-## Technologies
-Project is created with:
-* Python 64-bit: 3.6
-* Tensorflow: 2.0.0
-	
-## Setup
-The `requirements.txt` file should list all Python libraries that your notebooks
-depend on, and they will be installed using:
-
-```
-pip install -r requirements.txt
-```
-

kelner/gui/GAdialog/GADefaults.py

@@ -1,104 +0,0 @@
-
-class CrossingOverMethod:
-    FixedQuadrant = 0
-    SingleHorizontalDiv = 1
-    SingleVerticalDiv = 2
-    DoubleHorizontalDiv = 3
-    DoubleVerticalDiv = 4
-    RandomChoice = 5
-
-
-class SelectionMethod:
-    Roulette = 0
-    Tournament = 1
-
-
-class MutationMethod:
-    Flip = 0
-    Swap = 1
-
-
-class GADefaults:
-
-    def __init__(self):
-
-        self.defSelectionMethods = [("ruletka", SelectionMethod.Roulette),
-                                    ("turniej", SelectionMethod.Tournament)]
-
-        self.defCrossingOverMethods = [("pojedynczy poziomy", CrossingOverMethod.SingleHorizontalDiv),
-                                       ("pojedynczy pionowy", CrossingOverMethod.SingleVerticalDiv),
-                                       ("podwójny poziomy", CrossingOverMethod.DoubleHorizontalDiv),
-                                       ("podwójny pionowy", CrossingOverMethod.DoubleVerticalDiv),
-                                       ("ćwiartki", CrossingOverMethod.FixedQuadrant),
-                                       ("losowe", CrossingOverMethod.RandomChoice)]
-
-        self.defMutationMethods = [("inwersja", MutationMethod.Flip),
-                                   ("wymiana", MutationMethod.Swap)]
-
-        self.windowName = "Algorytm genetyczny - parametry"
-        self.windowGeometry = "400x400"
-        
-        self.minTablesCount = 1
-        self.maxTablesCount = 100
-        self.defTablesCount = 20
-        self.runTablesCount = self.defTablesCount
-        self.sliderNameTablesCount = "stoliki"
-        
-        self.minPopulationSize = 4
-        self.maxPopulationSize = 30
-        self.defPopulationSize = 5
-        self.runPopulationSize = self.defPopulationSize
-        self.sliderNamePopulationSize = "populacja"
-        
-        self.minMutation = 0
-        self.maxMutation = 10
-        self.defMutation = 1
-        self.runMutation = self.defMutation
-        self.sliderNameMutation = "mutacje"
-        
-        self.minGenerationsNumber = 1
-        self.maxGenerationsNumber = 1000
-        self.defGenerationsNumber = 20
-        self.runGenerationsNumber = self.defGenerationsNumber
-        self.sliderNameGenerationsNumber = "pokolenia"
-
-        self.defInfoFold = 5
-        self.runInfoFold = self.defInfoFold
-        self.sliderInfoFold = "co ile"
-
-        self.defSelectionMethod = SelectionMethod.Tournament
-        self.runSelectionMethod = self.defSelectionMethod
-        self.radioSelectionMethodName = "metoda selekcji"
-
-        self.defCrossingOverMethod = CrossingOverMethod.SingleHorizontalDiv
-        self.runCrossingOverMethod = self.defCrossingOverMethod
-        self.radioCrossingOverMethodName = "metoda krzyżowania"
-
-        self.defMutationMethod = MutationMethod.Swap
-        self.runMutationMethod = self.defMutationMethod
-        self.radioMutationMethodName = "metoda mutacji"
-
-        self.minElitism = 0
-        self.maxElitism = 50
-        self.defElitism = 0
-        self.runElitism = self.defElitism
-        self.sliderElitismName = "elitarność [%]"
-
-        self.buttonStartName = "generuj"
-        self.buttonDefaultsName = "przywróć"
-
-        self.__forbiddenPlaces = None
-
-        self.waiterPosition = None
-        self.kitchenPosition = None
-
-    def getForbiddenPlaces(self):
-        if self.__forbiddenPlaces is None:
-            self.__forbiddenPlaces = [self.waiterPosition, self.kitchenPosition]
-        return self.__forbiddenPlaces
-
-    def getInfo(self):
-        return "populacja: " + str(self.runPopulationSize) \
-            + ", pokolenia: " + str(self.runGenerationsNumber) \
-            + ", stoliki: " + str(self.runTablesCount) \
-            + ", mutacje: " + str(self.runMutation)

kelner/gui/GAdialog/GADialog.py

@@ -1,82 +0,0 @@
-import tkinter
-from tkinter import *
-
-from kelner.gui.GAdialog.GADefaults import CrossingOverMethod
-
-
-class GADialog:
-
-    def __init__(self, defaults):
-        self.__defaults = defaults
-        self.window = tkinter.Tk()
-        self.window.attributes('-topmost', 'true')
-        self.window.title(defaults.windowName)
-        self.__sliderTablesCount = self.__getSlider(0, defaults.minTablesCount, defaults.maxTablesCount, defaults.runTablesCount, defaults.sliderNameTablesCount)
-        self.__sliderPopulationSize = self.__getSlider(1, defaults.minPopulationSize, defaults.maxPopulationSize, defaults.runPopulationSize, defaults.sliderNamePopulationSize)
-        self.__sliderMutation = self.__getSlider(2,  defaults.minMutation, defaults.maxMutation, defaults.runMutation, defaults.sliderNameMutation)
-        self.__sliderGenerationsNumber = self.__getSlider(3, defaults.minGenerationsNumber, defaults.maxGenerationsNumber, defaults.runGenerationsNumber, defaults.sliderNameGenerationsNumber)
-        self.__sliderInfoFold = self.__getSlider(4, defaults.minGenerationsNumber,  defaults.maxGenerationsNumber, defaults.runInfoFold, defaults.sliderInfoFold)
-        self.__sliderElitism = self.__getSlider(5, defaults.minElitism, defaults.maxElitism, defaults.runElitism, defaults.sliderElitismName)
-
-        self.__radioSelectionMethodValue = IntVar()
-        self.__radioSelectionMethodValue.set(self.__defaults.runSelectionMethod)
-        self.__getRadioButton(6, defaults.defSelectionMethods, self.__radioSelectionMethodValue, defaults.radioSelectionMethodName)
-
-        self.__radioCrossingOverMethodValue = IntVar()
-        self.__radioCrossingOverMethodValue.set(self.__defaults.runCrossingOverMethod)
-        self.__getRadioButton(8, defaults.defCrossingOverMethods, self.__radioCrossingOverMethodValue, defaults.radioCrossingOverMethodName)
-
-        self.__radioMutationMethodValue = IntVar()
-        self.__radioMutationMethodValue.set(self.__defaults.runMutationMethod)
-        self.__getRadioButton(12, defaults.defMutationMethods, self.__radioMutationMethodValue, defaults.radioMutationMethodName)
-
-        self.__buttonDefaults = self.__getButton(15, 0, W, defaults.buttonDefaultsName, self.__setDefaults)
-        self.__buttonStart = self.__getButton(15, 1, E,  defaults.buttonStartName, self.__getAllValues)
-        self.window.mainloop()
-        
-    def __getSlider(self, rowNum, minVal, maxVal, runVal, labText):
-        label = Label(self.window, text = labText)
-        label.grid(row = rowNum, column = 0, sticky = S + W, padx = 5, pady = 5)
-        slider = Scale(self.window, variable = IntVar(), from_ = minVal, to = maxVal, orient=HORIZONTAL, length = 200)
-        slider.grid(row = rowNum, column = 1, sticky = E, padx = 5, pady = 3)
-        slider.set(runVal)
-        return slider
-
-    def __getButton(self, rowNum, colNum, stickPos, btnText, action):
-        button = Button(self.window, text = btnText, command = action)
-        button.grid(row = rowNum, column = colNum, stick = stickPos, columnspan = 2, padx=60, pady=5)
-        return button
-
-    def __getRadioButton(self, rowNum, methods, variable, labText):
-        label = LabelFrame(self.window, text = labText)
-        label.grid(row=rowNum, column=0, columnspan=2,  padx=5, pady=5, sticky=W)
-        rowNum += 1
-        iteration = 0
-        for text, mode in methods:
-            radio = Radiobutton(label, text = text, variable = variable, value = mode)
-            radio.grid(row = rowNum, column = iteration % 2, sticky = W, padx = 5, pady = 3)
-            rowNum += iteration % 2
-            iteration += 1
-
-    def __setDefaults(self):
-        self.__sliderTablesCount.set(self.__defaults.defTablesCount)
-        self.__sliderPopulationSize.set(self.__defaults.defPopulationSize)
-        self.__sliderMutation.set(self.__defaults.defMutation)
-        self.__sliderGenerationsNumber.set(self.__defaults.defGenerationsNumber)
-        self.__sliderInfoFold.set(self.__defaults.defInfoFold)
-        self.__sliderElitism.set(self.__defaults.defElitism)
-        self.__radioSelectionMethodValue.set(self.__defaults.defSelectionMethod)
-        self.__radioCrossingOverMethodValue.set(self.__defaults.defCrossingOverMethod)
-        self.__radioMutationMethodValue.set(self.__defaults.defMutationMethod)
-
-    def __getAllValues(self):
-        self.__defaults.runTablesCount = self.__sliderTablesCount.get()
-        self.__defaults.runPopulationSize = self.__sliderPopulationSize.get()
-        self.__defaults.runMutation = self.__sliderMutation.get()
-        self.__defaults.runGenerationsNumber = self.__sliderGenerationsNumber.get()
-        self.__defaults.runInfoFold = self.__sliderInfoFold.get()
-        self.__defaults.runElitism = self.__sliderElitism.get()
-        self.__defaults.runSelectionMethod = self.__radioSelectionMethodValue.get()
-        self.__defaults.runCrossingOverMethod = self.__radioCrossingOverMethodValue.get()
-        self.__defaults.runMutationMethod = self.__radioMutationMethodValue.get()
-        self.window.destroy()

kelner/gui/chart/Plots.py

@@ -1,22 +0,0 @@
-import matplotlib.pyplot as plt
-
-
-class Plots:
-
-    def __init__(self, generationNumber, bestFitnesses, bestTabless, worstFitnesses, worstTables, title):
-        self.__generationsNumber = generationNumber
-        self.__bestFitnesses = bestFitnesses
-        self.__bestTables = bestTabless
-        self.__worstTables = worstTables
-        self.__worstFitnesses = worstFitnesses
-        self.__title = title
-
-    def draw(self):
-        generations = [i for i in range(self.__generationsNumber + 1)]
-        plt.figure(num = self.__title)
-        plt.plot(generations, self.__bestTables, label = "stoliki najlepszego")
-        plt.plot(generations, self.__bestFitnesses, label="fitness najlepszego")
-        plt.plot(generations, self.__worstTables, label = "stoliki najgorszego")
-        plt.plot(generations, self.__worstFitnesses, label = "fitness najgorszego")
-        plt.legend()
-        plt.show()

kelner/main.py

@@ -1,32 +1,36 @@
 import pygame
-
 from kelner.src.components.GridBoard import GridBoard
 from kelner.src.components.Waiter import Waiter
+from kelner.src.components.Table import Table
 from kelner.src.components.Kitchen import Kitchen
 from kelner.src.managers.DrawableCollection import DrawableCollection
-
-# create screen consts
 from kelner.src.managers.MenuManager import MenuManager
-from kelner.src.managers.TableGenerator import TableGenerator
+from kelner.src.managers.TableManager import TableManager
+from kelner.src.managers.WaiterManager import WaiterManager
 from kelner.src.algorithms.DecisionTree import Tree_Builder
 from kelner.src.managers.KitchenManager import KitchenManager
 from kelner.src.algorithms.CNN.PrepareData import LoadModelThread
 from kelner.src.algorithms.FoodNet import classify
 import kelner.src.settings as settings
+# import time
 
-Scale        = 1.5                  # scale for all images used within project
-CellSize     = round(50 * Scale)  # pixel size of 1 square cell in the grid
-PaintOffset  = CellSize           # pixel size of paint offset for all drawables
-GridCountX   = 15                 # number of columns in grid
-GridCountY   = 9                  # number of rows in grid
-ScreenWidth  = CellSize * GridCountX + 2 * PaintOffset  # screen width in pixels
+# create screen consts
+Scale = 1  # scale for all images used within project
+CellSize = round(50 * Scale)  # pixel size of 1 square cell in the grid
+PaintOffset = CellSize  # pixel size of paint offset for all drawables
+GridCountX = 15  # number of columns in grid
+GridCountY = 9  # number of rows in grid
+ScreenWidth = CellSize * GridCountX + 2 * PaintOffset  # screen width in pixels
 ScreenHeight = CellSize * GridCountY + 2 * PaintOffset  # screen height in pixels
 running_tasks = {'table': [], 'waiter': []}
 
+
+
 # initialize background
 gridBoard = GridBoard(ScreenWidth, ScreenHeight)
 
-classify.join('/src/algorithms/FoodNet/classify.py')
+
+classify.join('C:/Users/Maria/Desktop/ProjektAI/kelner/src/algorithms/FoodNet/classify.py')
 
 # start loading prediction model
 settings.init()
@@ -36,15 +40,13 @@ load_model_thread.start()
 # joining this thread to main thread. Man thread will be started after this finish
 load_model_thread.join()
 
-kitchenManager = KitchenManager(gridBoard)
-
 # initialize drawable objects manager
-drawableManager = DrawableCollection(kitchenManager)
+drawableManager = DrawableCollection()
 
 # initialize menu manager
 menuManager = MenuManager()
 
-##TESTING THE DECISION TREE
+# TESTING THE DECISION TREE
 # Testing Data
 testing_db = [
     [1, 0, 0, 0, "Kurczak"],
@@ -79,16 +81,48 @@ else:
     print("test4: fail")
 
 # initialize waiter component
-waiter1 = Waiter(7, 4, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+waiter1 = Waiter(0, 0, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+# waiter2 = Waiter(0, GridCountY - 1, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+# waiter3 = Waiter(GridCountX - 1, 0, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+# waiter4 = Waiter(GridCountX - 1, GridCountY - 1, 0, GridCountX - 1, 0, GridCountY - 1, CellSize, PaintOffset)
+
 
 # adds waiter to drawable collection
 drawableManager.add(waiter1)
+# drawableManager.add(waiter2)
+# drawableManager.add(waiter3)
+# drawableManager.add(waiter4)
 
-kitchen = Kitchen(14, 0, 5, GridCountX - 5, 5, GridCountY - 5, CellSize, PaintOffset)
+
+kitchen = Kitchen(5, GridCountX - 5, 5, GridCountY - 5, CellSize, PaintOffset)
 drawableManager.add(kitchen)
+kitchenManager = KitchenManager(drawableManager, gridBoard)
 
-tableGenerator = TableGenerator(GridCountX, GridCountY, 1, GridCountX - 2, 1, GridCountY - 2, CellSize, PaintOffset, drawableManager)
-tableGenerator.start()
+# My comment
+# initialize a number of tables given in range
+for i in range(0, 40):
+    table = Table(1, GridCountX - 2, 1, GridCountY - 2, CellSize, PaintOffset)
+    if drawableManager.generatePosition(table):
+        drawableManager.add(table)
+
+# new thread controlling tables
+tableTask = TableManager(drawableManager, menuManager)
+tableTask.start()
+running_tasks['table'].append(tableTask)
+
+# new thread controlling waiter
+waiter1Task = WaiterManager(drawableManager, [waiter1], kitchenManager, menuManager, tableTask)
+waiter1Task.start()
+running_tasks['waiter'].append(tableTask)
+
+# waiter2Task = WaiterManager(drawableManager, [waiter2])
+# waiter2Task.start()
+#
+# waiter3Task = WaiterManager(drawableManager, [waiter3])
+# waiter3Task.start()
+#
+# waiter4Task = WaiterManager(drawableManager, [waiter4])
+# waiter4Task.start()
 
 # main loop
 running = True
@@ -96,14 +130,58 @@ while running:
 
     for event in pygame.event.get():
         if event.type == pygame.QUIT:
-            tableGenerator.stop()
-            drawableManager.stop()
+            tableTask.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(waiter1.getX() - 1, waiter1.getY()):
+                    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(waiter1.getX() + 1, waiter1.getY()):
+                    waiter1.moveRight()
+            if event.key == pygame.K_UP:
+                # checks if new waiter's position up is not occupied by other object
+                if drawableManager.isPositionAvailable(waiter1.getX(), waiter1.getY() - 1):
+                    waiter1.moveUp()
+            if event.key == pygame.K_DOWN:
+                # checks if new waiter's position down is not occupied by other object
+                if drawableManager.isPositionAvailable(waiter1.getX(), waiter1.getY() + 1):
+                    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
-    # is set only on initial paint or call to forceRepaint()
+    # is set only on initial paint or after keyboard event or call to forceRepaint()
     if drawableManager.mustRepaint():
         if not kitchenManager.is_running():
             gridBoard.reinitialize()
             gridBoard.draw(drawableManager)
-            gridBoard.udpdate()
+            gridBoard.udpdate()

kelner/src/algorithms/CNN/PrepareData.py

@@ -2,7 +2,6 @@ from collections import defaultdict
 from shutil import copytree, rmtree, copy
 import matplotlib.pyplot as plt
 import os
-os.environ['TF_CPP_MIN_LOG_LEVEL']='2'
 import threading
 from tensorflow.keras.models import load_model
 import kelner.src.settings as settings
@@ -11,7 +10,7 @@ import kelner.src.settings as settings
 #data_dir = 'D:\\Nauka\\Studia\\4_sem\\SztucznaInteligencja\\A_star\\CNN\\foodRecognitionCNN\\food-101\\images'
 #folder_dir = 'D:\\Nauka\\Studia\\4_sem\\SztucznaInteligencja\\A_star\\CNN\\foodRecognitionCNN\\food-101'
 #foods_sorted = sorted(os.listdir(data_dir))
-food_id = 0
+#food_id = 0
 
 
 #                       VISUALIZE DATA                             #

kelner/src/algorithms/FoodNet/classify.py

@@ -6,10 +6,10 @@ from os.path import isfile, join
 from tensorflow import keras
 import matplotlib.pyplot as plt
 
-MACARONS_DIR = './././images/dataset/macarons'
-PIZZA_DIR = './././images/dataset/pizza'
-FFRIES_DIR = './././images/dataset/ffries'
-PEAS_DIR = './././images/dataset/peas'
+MACARONS_DIR = '/kelner/images/dataset/macarons'
+PIZZA_DIR = '/kelner/images/dataset/pizza'
+FFRIES_DIR = '/kelner/images/dataset/ffries'
+PEAS_DIR = '/kelner/src/images/dataset/peas'
 COUNT = 10
 SIZE = 128, 128
 

kelner/src/algorithms/GATableGenerator/GATableGenerator.py

@@ -1,304 +0,0 @@
-import random
-import math
-from queue import PriorityQueue
-from kelner.src.algorithms.GATableGenerator.Individual import Individual
-from kelner.src.algorithms.AStar.Finder import Finder
-from kelner.gui.GAdialog.GADefaults import GADefaults, CrossingOverMethod, MutationMethod, SelectionMethod
-
-
-class GATableGenerator:
-
-    def __init__(self, gridCols, gridRows, params):
-        self.gridCols = gridCols
-        self.gridRows = gridRows
-        self.params = params
-        self.currentGenerationNumber = 0
-        self.population = None
-        self.bestFitnessScores = []
-        self.worstFitnessScores = []
-        self.bestTables = []
-        self.worstTables = []
-
-    def generateTables(self):
-        table = [[0] * self.gridCols for i in range(self.gridRows)]
-        for _ in range(self.params.runTablesCount):
-            isPositionUnique = False
-            while not isPositionUnique:
-                x = random.randint(0, self.gridCols - 1)
-                y = random.randint(0, self.gridRows - 1)
-                if (x, y) not in self.params.getForbiddenPlaces() and table[y][x] == 0:
-                    isPositionUnique = True
-                    table[y][x] = 1
-        table[self.params.kitchenPosition[1]][self.params.kitchenPosition[0]] = 1
-        return table
-
-    def getIndividual(self, table):
-        origin = self.params.waiterPosition
-        finder = Finder(table)
-        fitnessScore = 0
-        tablesCount = 0
-        for y in range(self.gridRows):
-            for x in range(self.gridCols):
-                if table[y][x] == 1:
-                    tablesCount += 1
-                    targets = finder.getNeighbours((x, y), False)
-                    for target in targets:
-                        if origin == target:
-                            fitnessScore += 1
-                            break
-                        else:
-                            path = finder.getPath(origin, target, True)
-                            if path:
-                                fitnessScore += 1
-                                break
-        individual = Individual(table, fitnessScore - (tablesCount - fitnessScore), tablesCount)
-        return individual
-
-    def updateStats(self):
-        bestIndividual = self.getBestIndividual()
-        worstIndividual = self.getWorstIndividual()
-        self.bestFitnessScores.append(bestIndividual.getFitness())
-        self.bestTables.append(bestIndividual.getTablesCount())
-        self.worstFitnessScores.append(worstIndividual.getFitness())
-        self.worstTables.append(worstIndividual.getTablesCount())
-
-    def firstPopulation(self):
-        self.population = PriorityQueue()
-        for _ in range(self.params.runPopulationSize):
-            self.population.put(self.getIndividual(self.generateTables()))
-        self.currentGenerationNumber = 0
-        self.bestFitnessScores = []
-        self.worstFitnessScores = []
-        self.bestTables = []
-        self.worstTables = []
-        self.updateStats()
-
-    def getPopulationQueue(self):
-        queue = PriorityQueue()
-        for item in self.population.queue:
-            queue.put(item)
-        return queue
-
-    def getPopulationSortedArray(self):
-        queue = self.getPopulationQueue()
-        array = []
-        while not queue.empty():
-            array.append(queue.get())
-        return array
-
-    def arrayToQueue(self, array):
-        queue = PriorityQueue()
-        for item in array:
-            queue.put(item)
-        return queue
-
-    def selectParentsByRoulette(self):
-        populationArray = self.getPopulationSortedArray()
-        parents = []
-        delta = populationArray[len(populationArray) - 1].getFitness()
-        if delta > 0:
-            delta = 0
-        else:
-            delta = abs(delta) + 1
-        fitnessSum = 0
-        for individual in populationArray:
-            fitnessSum += individual.getFitness() + delta
-        for _ in range(2):
-            draw = random.uniform(0, 1)
-            accumulated = 0
-            for individual in populationArray:
-                probability = float(individual.getFitness() + delta) / fitnessSum
-                accumulated += probability
-                if draw <= accumulated:
-                    parents.append(individual)
-                    fitnessSum -= (individual.getFitness() + delta)
-                    populationArray.remove(individual)
-                    break
-        return parents
-
-    def selectParentsByTournament(self):
-        parents = []
-        competitorsNum = math.ceil(0.25 * self.params.runPopulationSize)
-        if competitorsNum < self.params.minPopulationSize:
-            competitorsNum = self.params.minPopulationSize - 1
-        population = self.getPopulationSortedArray()
-        parent = self.arrayToQueue(random.sample(population, competitorsNum)).get()
-        population.remove(parent)
-        parents.append(parent)
-        parents.append(self.arrayToQueue(random.sample(population, competitorsNum)).get())
-        return parents
-
-    def quadrant(self, parentL, parentR):
-        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
-        for row in range(self.gridRows):
-            for col in range(self.gridCols):
-                if (row <= math.floor((self.gridRows - 1) / 2.0)) and (col <= math.ceil((self.gridCols - 1) / 2.0)) or \
-                        (row > math.floor((self.gridRows - 1) / 2.0)) and (col > math.ceil((self.gridCols - 1) / 2.0)):
-                    childTables[row][col] = parentL.getTables()[row][col]
-                else:
-                    childTables[row][col] = parentR.getTables()[row][col]
-        return childTables
-
-    def singleVerticalDiv(self, parentL, parentR):
-        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
-        divX = random.randint(1, self.gridCols - 2)
-        for row in range(self.gridRows):
-            for col in range(self.gridCols):
-                if col <= divX:
-                    childTables[row][col] = parentL.getTables()[row][col]
-                else:
-                    childTables[row][col] = parentR.getTables()[row][col]
-        return childTables
-
-    def singleHorizontalDiv(self, parentL, parentR):
-        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
-        divY = random.randint(1, self.gridRows - 2)
-        for row in range(self.gridRows):
-            for col in range(self.gridCols):
-                if row <= divY:
-                    childTables[row][col] = parentL.getTables()[row][col]
-                else:
-                    childTables[row][col] = parentR.getTables()[row][col]
-        return childTables
-
-    def doubleVerticalDiv(self, parentL, parentR):
-        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
-        divC = math.ceil((self.gridCols - 1) / 2)
-        divX1 = random.randint(1, divC - 1)
-        divX2 = random.randint(divC + 1, self.gridCols - 2)
-        for row in range(self.gridRows):
-            for col in range(self.gridCols):
-                if divX1 <= col < divX2:
-                    childTables[row][col] = parentL.getTables()[row][col]
-                else:
-                    childTables[row][col] = parentR.getTables()[row][col]
-        return childTables
-
-    def doubleHorizontalDiv(self, parentL, parentR):
-        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
-        divC = math.ceil((self.gridRows - 1) / 2)
-        divY1 = random.randint(1, divC - 1)
-        divY2 = random.randint(divC + 1, self.gridRows - 2)
-        for row in range(self.gridRows):
-            for col in range(self.gridCols):
-                if divY1 <= row < divY2:
-                    childTables[row][col] = parentL.getTables()[row][col]
-                else:
-                    childTables[row][col] = parentR.getTables()[row][col]
-        return childTables
-
-    def randomChoice(self, parentL, parentR):
-        childTables = [[0] * self.gridCols for i in range(self.gridRows)]
-        parents = [parentL.getTables(), parentR.getTables()]
-        for row in range(self.gridRows):
-            for col in range(self.gridCols):
-                childTables[row][col] = random.choice(parents)[row][col]
-        return childTables
-
-    def procreate(self):
-        if self.params.runSelectionMethod == SelectionMethod.Roulette:
-            parentLeft, parentRight = self.selectParentsByRoulette()
-        elif self.params.runSelectionMethod == SelectionMethod.Tournament:
-            parentLeft, parentRight = self.selectParentsByTournament()
-        child = None
-        if self.params.runCrossingOverMethod == CrossingOverMethod.FixedQuadrant:
-            child = self.quadrant(parentLeft, parentRight)
-        elif self.params.runCrossingOverMethod == CrossingOverMethod.SingleVerticalDiv:
-            child = self.singleVerticalDiv(parentLeft, parentRight)
-        elif self.params.runCrossingOverMethod == CrossingOverMethod.SingleHorizontalDiv:
-            child = self.singleHorizontalDiv(parentLeft, parentRight)
-        elif self.params.runCrossingOverMethod == CrossingOverMethod.DoubleVerticalDiv:
-            child = self.doubleVerticalDiv(parentLeft, parentRight)
-        elif self.params.runCrossingOverMethod == CrossingOverMethod.DoubleHorizontalDiv:
-            child = self.doubleHorizontalDiv(parentLeft, parentRight)
-        elif self.params.runCrossingOverMethod == CrossingOverMethod.RandomChoice:
-            child = self.randomChoice(parentLeft, parentRight)
-        return child
-
-    def getRandTuple(self):
-        isPlaceAvailable = False
-        while not isPlaceAvailable:
-            randX = random.randint(0, self.gridCols - 1)
-            randY = random.randint(0, self.gridRows - 1)
-            isPlaceAvailable = (randX, randY) not in self.params.getForbiddenPlaces()
-        return randX, randY
-
-    def mutateFlip(self, tables):
-        mutatedTables = tables
-        numberOfMutation = random.randint(0, self.params.runMutation)
-        for _ in range(numberOfMutation):
-            randX, randY = self.getRandTuple()
-            if mutatedTables[randY][randX] == 1:
-                mutatedTables[randY][randX] = 0
-            else:
-                mutatedTables[randY][randX] = 1
-        return mutatedTables
-
-    def mutateSwap(self, tables):
-        mutatedTables = tables
-        numberOfMutation = random.randint(0, self.params.runMutation)
-        for _ in range(numberOfMutation):
-            randX1, randY1 = self.getRandTuple()
-            randX2, randY2 = self.getRandTuple()
-            value = mutatedTables[randY1][randX1]
-            mutatedTables[randY1][randX1] = mutatedTables[randY2][randX2]
-            mutatedTables[randY2][randX2] = value
-        return mutatedTables
-
-    def makeNextGeneration(self):
-        tablesArray = []
-        eliteSize = math.ceil((self.params.runPopulationSize * self.params.runElitism) / 100.0)
-        for _ in range(self.params.runPopulationSize - eliteSize):
-            if self.params.runMutationMethod == MutationMethod.Flip:
-                mutated = self.mutateFlip(self.procreate())
-            elif self.params.runMutationMethod == MutationMethod.Swap:
-                mutated = self.mutateSwap(self.procreate())
-            tablesArray.append(mutated)
-        eliteArray = []
-        for _ in range(eliteSize):
-            eliteArray.append(self.population.get())
-        self.population = PriorityQueue()
-        for individual in eliteArray:
-            self.population.put(individual)
-        for table in tablesArray:
-            self.population.put(self.getIndividual(table))
-        self.currentGenerationNumber += 1
-        self.updateStats()
-
-    def canGenerate(self):
-        return self.currentGenerationNumber < self.params.runGenerationsNumber
-
-    def getBestIndividual(self):
-        population = self.getPopulationQueue()
-        return population.get()
-
-    def getWorstIndividual(self):
-        population = self.getPopulationSortedArray()
-        return population[len(population) - 1]
-
-    def printBest(self):
-        populationBest = self.getBestIndividual()
-        populationBest.print(self.currentGenerationNumber)
-
-    def printPopulation(self):
-        queue = self.getPopulationQueue()
-        while not queue.empty():
-            individual = queue.get()
-            individual.print(self.currentGenerationNumber)
-        print('---------------------------------------')
-
-    def makeAllGenerations(self):
-        self.printBest()
-        while self.canGenerate():
-            self.makeNextGeneration()
-            self.printBest()
-
-"""
-params = GADefaults()
-generator = GATableGenerator(15, 9, params)
-generator.firstPopulation()
-generator.printPopulation()
-while generator.canGenerate():
-    generator.makeNextGeneration()
-    generator.printPopulation()
-"""

kelner/src/algorithms/GATableGenerator/Individual.py

@@ -1,33 +0,0 @@
-class Individual:
-
-    def __init__(self, table, fitnessScore, tablesCount):
-        self.__table = table
-        self.__fitnessScore = fitnessScore
-        self.__tablesCount = tablesCount
-
-    # operator (>) for PriorityQueue comparison (determines the objects order)
-    def __gt__(self, other):
-        return self.__fitnessScore < other.__fitnessScore
-
-    def getTables(self):
-        return self.__table
-
-    def getTablesCount(self):
-        return self.__tablesCount
-
-    def getFitness(self):
-        return self.__fitnessScore
-
-    def getInfo(self, generation):
-        return f"GENERATION: {generation}, FITNESS: {self.__fitnessScore}, TABLES: {self.__tablesCount}"
-
-    def print(self, generation):
-        print(self.getInfo(generation))
-        cols = len(self.__table[0])
-        rows = len(self.__table)
-        for row in range(rows):
-            for col in range(cols):
-                v = self.__table[row][col]
-                v = ' ' if v == 0 else '#' if v == 1 else 'O'
-                print('|', v, sep='', end='')
-            print('|')

kelner/src/components/Drawable.py

@@ -1,3 +1,5 @@
+from kelner.src.managers.ImageCache import ImageCache, Images
+
 
 class Drawable:
 
@@ -60,3 +62,15 @@ class Drawable:
 
     def drawAux(self, screen):
         pass
+
+    def getImage(self, imageKind, img_path=None):
+        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate]:
+            size = int(self.getCellSize() / 3)
+        elif imageKind in [Images.Kitchen, Images.Dishes]:
+            size = int(self.getCellSize())
+        else:
+            size = int(1.4 * self.getCellSize())
+        if img_path:
+            return ImageCache.getInstance().getImage(imageKind, size, size, img_path)
+        else:
+            return ImageCache.getInstance().getImage(imageKind, size, size)

kelner/src/components/Kitchen.py

@@ -1,15 +1,18 @@
 import random
+from enum import Enum
+from threading import Lock
 from kelner.src.components.Drawable import Drawable
 from kelner.src.managers.ImageCache import ImageCache, Images
 from kelner.src.algorithms.DecisionTree import Tree_Builder
 import os
+import copy
+import time
 import pygame
 
-
 class Kitchen(Drawable):
-    def __init__(self, x, y, minX, maxX, minY, maxY, cellSize, offset):
+    def __init__(self, minX, maxX, minY, maxY, cellSize, offset):
         # call base class constructor
-        super().__init__(x, y, minX, maxX, minY, maxY, cellSize, offset)
+        super().__init__(14, 0, minX, maxX, minY, maxY, cellSize, offset)
         self._preparing_orders = None
         self._ready_orders = None
         self._photos_path = os.path.join(os.getcwd(), 'foodImages')
@@ -89,17 +92,7 @@ class Kitchen(Drawable):
             # print("Image drawing: {}".format(img_path))
         return img_paths
 
-    def getImage(self, imageKind, img_path=None):
-        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate]:
-            size = int(self.getCellSize() / 3)
-        elif imageKind in [Images.Kitchen, Images.Dishes]:
-            size = int(self.getCellSize())
-        else:
-            size = int(1.4 * self.getCellSize())
-        if img_path:
-            return ImageCache.getInstance().getImage(imageKind, size, size, img_path)
-        else:
-            return ImageCache.getInstance().getImage(imageKind, size, size)
+
 
     def draw(self, screen):
         xBase = self.getX() * self.getCellSize() + self.getOffset()

kelner/src/components/Table.py

@@ -111,7 +111,7 @@ class Table(Drawable):
         self.__status = status
 
     def __getImage(self, imageKind):
-        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate, Images.Chicken]:
+        if imageKind in [Images.Guest1, Images.Guest2, Images.Guest3, Images.Plate]:
             size = int(self.getCellSize() / 3)
         else:
             size = int(1.4 * self.getCellSize())
@@ -164,15 +164,3 @@ class Table(Drawable):
                 screen.blit(imagePlate, (xBase + guest1XOffset, yBase + platesYOffset))
                 screen.blit(imagePlate, (xBase + guest2XOffset, yBase + platesYOffset))
                 screen.blit(imagePlate, (xBase + guest3XOffset, yBase + platesYOffset))
-        elif self.isStatus(Status.Served):
-            platesYOffset = int(0.3 * self.getCellSize())
-            imageChicken = self.__getImage(Images.Chicken)
-            if len(self.__guests) == 1:
-                screen.blit(imageChicken, (xBase + guest2XOffset, yBase + platesYOffset))
-            elif len(self.__guests) == 2:
-                screen.blit(imageChicken, (xBase + guest4XOffset, yBase + platesYOffset))
-                screen.blit(imageChicken, (xBase + guest5XOffset, yBase + platesYOffset))
-            elif len(self.__guests) == 3:
-                screen.blit(imageChicken, (xBase + guest1XOffset, yBase + platesYOffset))
-                screen.blit(imageChicken, (xBase + guest2XOffset, yBase + platesYOffset))
-                screen.blit(imageChicken, (xBase + guest3XOffset, yBase + platesYOffset))

kelner/src/managers/DrawableCollection.py

@@ -7,43 +7,16 @@ from kelner.src.components.Kitchen import Kitchen
 
 
 # drawable objects manager
-from kelner.src.managers.MenuManager import MenuManager
-from kelner.src.managers.TableManager import TableManager
-from kelner.src.managers.WaiterManager import WaiterManager
-
-
 class DrawableCollection:
     # const, minimal distance between objects
     __MinDistanceX = 1
     __MinDistanceY = 0
 
-    def __init__(self, kitchenManager):
+    def __init__(self):
         # collection that holds all drawable objects
         self.__mustRepaint = True
         self.__drawables = []
         self.__waiterLock = Lock()
-        self.__tasks = []
-        self.__kitchenManager = kitchenManager
-
-    def start(self):
-        # initialize menu manager
-        menuManager = MenuManager()
-        # new thread controlling tables
-        tableTask = TableManager(self, menuManager)
-        self.__tasks.append(tableTask)
-
-        waiters = self.getWaiters()
-        for waiter in waiters:
-            # new thread controlling waiter
-            waiterTask = WaiterManager(self, [waiter], self.__kitchenManager, menuManager, tableTask)
-            self.__tasks.append(waiterTask)
-
-        for task in self.__tasks:
-            task.start()
-
-    def stop(self):
-        for task in self.__tasks:
-            task.stop()
 
     # adds drawable objects to the collection
     def add(self, drawable):
@@ -79,10 +52,6 @@ class DrawableCollection:
                 break
         return isPositionAvailable
 
-    # deletes all tables
-    def delTables(self):
-        self.__drawables = [drawable for drawable in  self.__drawables if not isinstance(drawable, Table)]
-
     # gets all tables by status from collection
     def getTables(self, status):
         result = []
@@ -92,10 +61,11 @@ class DrawableCollection:
         return result
 
     def get_kitchen(self):
+        kitchen = None
         for item in self.__drawables:
             if isinstance(item, Kitchen):
-                return item
-        return None
+                kitchen = item
+        return kitchen
 
     def lock(self):
         self.__waiterLock.acquire()
@@ -131,8 +101,8 @@ class DrawableCollection:
         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):
+            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/ImageCache.py

@@ -23,7 +23,6 @@ class Images(Enum):
     ToolTip = 16
     Kitchen = 17
     Dishes = 18
-    Chicken = 19
 
 
 class ImageCache:
@@ -61,8 +60,7 @@ class ImageCache:
                             Images.Guest3:           './images/wiking_rudy2.png',
                             Images.ToolTip:          './images/tooltip.png',
                             Images.Kitchen:           './images/kitchen.png',
-                            Images.Dishes:            './images/testDishes/',
-                            Images.Chicken:           './images/kurczak.png'
+                            Images.Dishes:            './images/testDishes/'
                             }
 
     def __getFont(self):

kelner/src/managers/KitchenManager.py

@@ -6,8 +6,9 @@ import sys
 # creates new thread
 class KitchenManager(threading.Thread):
 
-    def __init__(self, gridboard):
+    def __init__(self, drawable_manager, gridboard):
         super().__init__()
+        self._drawable_manager = drawable_manager
         self._gridboard = gridboard
         self.__runThread = False
 

kelner/src/managers/TableGenerator.py

@@ -1,120 +0,0 @@
-import threading
-from tkinter import messagebox, Tk
-from kelner.src.components.Table import Table
-from kelner.src.algorithms.GATableGenerator.GATableGenerator import GATableGenerator
-from kelner.gui.GAdialog.GADialog import GADialog
-from kelner.gui.GAdialog.GADefaults import GADefaults
-from kelner.gui.chart.Plots import Plots
-
-
-# creates new thread
-class TableGenerator (threading.Thread):
-
-    def __init__(self, gridCols, gridRows, minX, maxX, minY, maxY, cellSize, paintOffset, drawableManager):
-        super().__init__()
-        self.__minX = minX
-        self.__maxX = maxX
-        self.__minY = minY
-        self.__maxY = maxY
-        self.__cellSize = cellSize
-        self.__paintOffset = paintOffset
-        self.__drawableManager = drawableManager
-        self.__runThread = True
-        self.__defaults = GADefaults()
-        self.__defaults.waiterPosition = self.__getDefaultWaiterPosition()
-        self.__defaults.kitchenPosition = self.__getDefaultKitchenPosition()
-        self.__gaTableGenerator = GATableGenerator(gridCols, gridRows, self.__defaults)
-
-    def __getDefaultWaiterPosition(self):
-        waiters = self.__drawableManager.getWaiters()
-        if waiters:
-            return waiters[0].getX(), waiters[0].getY()
-        return None
-
-    def __getDefaultKitchenPosition(self):
-        kitchen = self.__drawableManager.get_kitchen()
-        if kitchen is not None:
-            return kitchen.getX(), kitchen.getY()
-        return None
-
-    def __randomTables(self):
-        # initialize a number of tables given in range
-        for i in range(0, 40):
-            table = Table(self.__minX, self.__maxX, self.__minY, self.__maxY, self.__cellSize, self.__paintOffset)
-            if self.__drawableManager.generatePosition(table):
-                self.__drawableManager.add(table)
-
-    def __geneticTables(self):
-        bestIndividual = self.__gaTableGenerator.getBestIndividual()
-        for row in range(self.__gaTableGenerator.gridRows):
-            for col in range(self.__gaTableGenerator.gridCols):
-                if bestIndividual.getTables()[row][col] == 1 and \
-                        (row != self.__defaults.kitchenPosition[1] or col != self.__defaults.kitchenPosition[0]):
-                    table = Table(0, self.__gaTableGenerator.gridCols - 1, 0, self.__gaTableGenerator.gridRows - 1, self.__cellSize, self.__paintOffset)
-                    table.setX(col)
-                    table.setY(row)
-                    self.__drawableManager.add(table)
-
-    def __askIfGA(self):
-        window = Tk()
-        window.attributes('-topmost', 'true')
-        window.wm_withdraw()
-        result = messagebox.askquestion("Rodzaj algorytmu", "Czy uruchomić algorytm genetyczny?", parent=window)
-        window.destroy()
-        return result == 'yes'
-
-    def __ask(self, info):
-        window = Tk()
-        window.attributes('-topmost', 'true')
-        window.wm_withdraw()
-        result = messagebox.askquestion(info + '\n', "Czy nowa generacja?", parent=window)
-        window.destroy()
-        return result == 'yes'
-
-    def __askIfAgain(self):
-        window = Tk()
-        window.attributes('-topmost', 'true')
-        window.wm_withdraw()
-        result = messagebox.askquestion("Potwierdź", "Czy powtórzyć proces?", parent=window)
-        window.destroy()
-        return result == 'yes'
-
-    def __plot(self):
-        plot = Plots(self.__gaTableGenerator.currentGenerationNumber,
-                     self.__gaTableGenerator.bestFitnessScores, self.__gaTableGenerator.bestTables,
-                     self.__gaTableGenerator.worstFitnessScores, self.__gaTableGenerator.worstTables,
-                     self.__defaults.getInfo())
-        plot.draw()
-
-    def run(self):
-        if self.__askIfGA():
-            while self.__runThread:
-                again = True
-                GADialog(self.__defaults)
-                self.__gaTableGenerator.firstPopulation()
-                while again:
-                    self.__drawableManager.delTables()
-                    self.__geneticTables()
-                    self.__drawableManager.forceRepaint()
-                    if self.__gaTableGenerator.canGenerate():
-                        if self.__gaTableGenerator.currentGenerationNumber % self.__defaults.runInfoFold != 0 or\
-                                self.__ask(self.__gaTableGenerator.getBestIndividual().getInfo(self.__gaTableGenerator.currentGenerationNumber)):
-                            self.__gaTableGenerator.makeNextGeneration()
-                        else:
-                            self.__drawableManager.start()
-                            self.stop()
-                            again = False
-                            self.__plot()
-                    else:
-                        self.__plot()
-                        if not self.__askIfAgain():
-                            self.__drawableManager.start()
-                            self.stop()
-                        again = False
-        else:
-            self.__randomTables()
-            self.__drawableManager.forceRepaint()
-            self.__drawableManager.start()
-
-    def stop(self):
-        self.__runThread = False

kelner/src/managers/WaiterManager.py

@@ -1,7 +1,6 @@
 import threading
 import time
 import sys
-from math import sqrt
 from kelner.src.components.Table import Status
 from kelner.src.algorithms.AStar.Finder import Finder
 from kelner.src.algorithms.BFS.BFS import BFS
@@ -21,65 +20,43 @@ class WaiterManager(threading.Thread):
         self._menu_manager = menu_manager
         self._table_manager = table_manager
 
-    def __getDistance(self, waiter, tupleXY):
-        dx = waiter.getX() - tupleXY[0]
-        dy = waiter.getY() - tupleXY[1]
-        return sqrt(dx * dx + dy * dy)
-
-    def __sortTargets(self, waiter, targets):
-        return sorted(targets, key=lambda target: self.__getDistance(waiter, (target[0], target[1])))
-
-    def __getTargets(self, waiter, finder):
-        found = []
+    def __getNearestTargetPath(self, waiter, target):
+        distance = sys.maxsize
+        nearestTargetPath = None
+        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
+            return path
         if tables:
-            origin = (waiter.getX(), waiter.getY())
             for table in tables:
                 if table.hasOrder():
                     targets = finder.getNeighbours((table.getX(), table.getY()), False)
                     for target in targets:
-                        if target == origin:
-                            return []
-                        else:
-                            found.append(target)
-        return self.__sortTargets(waiter, found)
-
-    def __getNearestTargetPath(self, waiter, targets=None):
-        distance = sys.maxsize
-        nearestTargetPath = None
-        reservedPlaces = self.__drawableManager.getReservedPlaces(waiter)
-        finder = Finder(reservedPlaces)
-        origin = (waiter.getX(), waiter.getY())
-        if targets is None:
-            targets = self.__getTargets(waiter, finder)
-        for target in targets:
-            if distance > self.__getDistance(waiter, target):
-                path = finder.getPath(origin, target, True)
-                if path:
-                    result = len(path)
-                    if result < distance:
-                        distance = result
-                        nearestTargetPath = path
+                        if target is not None:
+                            path = finder.getPath(origin, target, True)
+                            if path:
+                                result = len(path)
+                                if result < distance:
+                                    distance = result
+                                    nearestTargetPath = path
 
         return nearestTargetPath
 
     def get_specified_path(self, waiter, table):
-        distance = sys.maxsize
-        nearestTargetPath = None
         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 distance > self.__getDistance(waiter, target):
+            if target is not None:
                 path = finder.getPath(origin, target, True)
                 if path:
-                    result = len(path)
-                    if result < distance:
-                        distance = result
-                        nearestTargetPath = path
-
-        return nearestTargetPath
+                    return path
 
     def __changeWaiterDirection(self, waiter, x, y):
         targetDirection = x - waiter.getX(), y - waiter.getY()
@@ -195,14 +172,13 @@ class WaiterManager(threading.Thread):
 
                     if len(waiter.getAcceptedOrders()) > 1:
                         waiter.set_target('kitchen')
-                        path = self.__getNearestTargetPath(waiter, [(14, 1), (13, 0)])
+                        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)
-                            self.__changeWaiterDirection(waiter, table.getX(), table.getY())
                             waiter.get_remaining_positions().pop(0)
                             time.sleep(2)
 
@@ -211,7 +187,7 @@ class WaiterManager(threading.Thread):
                             path = self.get_specified_path(waiter, waiter.get_remaining_positions()[0])
                         else:
                             waiter.set_target('table')
-                            path = self.__getNearestTargetPath(waiter)
+                            path = self.__getNearestTargetPath(waiter, target='table')
 
                     waiter.setPath([] if path is None else path)
 
@@ -225,7 +201,6 @@ class WaiterManager(threading.Thread):
                         if waiter.get_target() == 'kitchen':
                             self._table_manager.pause()
                             kitchen = self.__drawableManager.get_kitchen()
-                            self.__changeWaiterDirection(waiter, kitchen.getX(), kitchen.getY())
                             waiter_orders = waiter.getAcceptedOrders()
                             # print("Waiter near kitchen. Collected orders: {}".format(waiter_orders))
                             kitchen.add_orders(waiter_orders)

requirements.txt

@@ -1,6 +0,0 @@
-tensorflow==2.0.0
-pygame==1.9.6
-numpy==1.18.4
-Pillow==7.1.2
-Keras-Applications==1.0.8
-Keras-Preprocessing==1.1.0