249 lines
6.9 KiB
Python
249 lines
6.9 KiB
Python
import pygame
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import random
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import numpy as np
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import time
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import collections
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import alg
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from models.dumpster import trash
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from models.Garbagetruck import GarbageTruck
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import numbering
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from sklearn.datasets import load_digits
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import garbageDumpSorting as gds
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from models.garbageDump import Dump
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import sys
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#heuristics for finding the closest dumpster
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def closest(GT, D):
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point = np.column_stack((np.abs(GT[0]-D[:,0])+np.abs(GT[1]-D[:,1]),D))
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sorted_list = sorted(point, key=lambda x:x[0])
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return sorted_list[0][1:]
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def display(grid, GT, a, lena, dump):
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#find closest dumpster and the path
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ZZ = closest(list(GT.coor), a)
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b = alg.aStar(grid, tuple(GT.coor), tuple(ZZ))
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# go through the route to the closest dumpster
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for i in b:
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GT.turn(i)
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GT.move()
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# "Speed" of the Garbage Truck
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clock.tick(20)
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grid=drawGrid(grid, 20, lena, dump)
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screen.blit(GT.picture, ((WIDTH) * GT.coor[0], (HEIGHT) *GT.coor[1]))
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pygame.display.flip()
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return ZZ
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#creating dumpsters
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def createDumpstersAndDump(size,number):
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points=[]
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for x in range (0,size):
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for y in range (0,size):
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points.append([x,y])
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wol=random.sample(points,number)
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return (wol)
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def drawGrid(grid, size, a, dump):
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for row in range(size):
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for column in range(size):
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#colouring dumpsters
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img=grassImg
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if grid[row][column] == 1:
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#plastic
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img = garbageY
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elif grid[row][column] == 2:
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#paper
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img = garbageG
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elif grid[row][column] == 3:
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#glass
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img = garbageR
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elif grid[row][column] == 4:
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#cardboard
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img = garbageBL
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elif grid[row][column] == 5:
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#metal
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img = garbageBLK
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elif row == dump.coor[:,0] and column == dump.coor[:,1]:
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grid[row][column] = 0
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img = recycImg
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screen.blit(img, ((WIDTH) * row, (HEIGHT) * column))
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if a != 0:
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texts = [" In garbage truck: ", "- Plastic: %s "%(GT.plastic), "- Paper: %s "%(GT.paper), "- Glass: %s "%(GT.glass), "- Cardboard: %s "%(GT.cardboard), "- Metal: %s "%(GT.metal)]
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else:
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texts = ["In garbage dump: ", "- Plastic: %s "%(dump.plastic), "- Paper: %s "%(dump.paper), "- Glass: %s "%(dump.glass), "- Cardboard: %s "%(dump.cardboard), "- Metal: %s "%(dump.metal)]
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y=350
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for i in range(0,7):
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if i == 6:
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tex = font.render(" Dumpsters left: %s "%a, True, green, blue)
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y+=100
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else:
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tex = font.render(texts[i], True, green, blue)
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textRec = tex.get_rect()
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textRec.center = (800, y)
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y+=30
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screen.blit(tex, textRec)
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return grid
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# 700:20=35
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WIDTH = 35
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HEIGHT = 35
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# Creation of a two dimensional grid
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grid = []
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for row in range(20):
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grid.append([])
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for column in range(20):
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grid[row].append(10)
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# number of dumpsters
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size=20
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#randomizing coordinates, initializing the Garbage Dump
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a = createDumpstersAndDump(20,size+1)
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dump = Dump()
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dump.coor = np.reshape(a[-1], (1, 2))
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a = np.reshape(a[:-1], (size, 2))
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#Klaudia Przybylska subproject part
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gds.createSets()
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# gds.processTrainData()
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# gds.processTestData()
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clf = gds.trainAndTest()
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#Patryk Krawiec subproject part
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digitsy=np.load("Ytest.npy")
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digitsx=np.load("Xtest.npy")
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images_and_labels=list(zip(digitsx,digitsy))
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num,xnum,ynum=numbering.num(20,images_and_labels)
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paying_customers=num[3:]
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paying_customers = list(map(int, paying_customers))
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#initiating the coordinates for the garbage truck
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GT = GarbageTruck()
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coor = GT.start()
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#Initializing dumpsters
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dumpsters = []
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for i in range(0,size):
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s = trash()
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s.giveID(i)
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s.throwAway()
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s.colour()
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s.xy = a[i]
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s.numberx=xnum[i]
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s.numbery=ynum[i]
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dumpsters.append(s)
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#colouring trashcans
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buff = 0
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for x in a:
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grid[x[0]][x[1]] = dumpsters[buff].color
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buff += 1
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# Initializing, sizing the window & title
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pygame.init()
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winsize=700
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WINDOW_SIZE = [winsize, winsize]
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screen = pygame.display.set_mode(WINDOW_SIZE)
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WINDOW_SIZE1 = [900, 700]
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screen2 = pygame.display.set_mode(WINDOW_SIZE1)
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green = (0, 255, 0)
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blue = (0, 0, 0)
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font = pygame.font.SysFont('calibri', 20)
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pygame.display.set_caption("Intelligent Garbage Truck")
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background = pygame.Surface(screen2.get_size()) # Create empty pygame surface
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background.fill((0,0,0)) # Fill the background white color (red,green,blue)
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background = background.convert()
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# Loop until user clicks close
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done = False
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# Managing refreshing speed
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clock = pygame.time.Clock()
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#resources
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grassImg = pygame.image.load('./images/grass.png')
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garbageY = pygame.image.load('./images/garbageyellow.png')
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garbageR = pygame.image.load('./images/garbagered.png')
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garbageBL = pygame.image.load('./images/garbageblue.png')
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garbageBLK = pygame.image.load('./images/garbageblack.png')
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garbageG = pygame.image.load('./images/garbagegreen.png')
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recycImg = pygame.image.load('./images/recycling.png')
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all = a
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while not done:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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pygame.display.quit(), sys.exit()
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# Draw the grid
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grid=drawGrid(grid, 20, len(a), dump)
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#move and display
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ZZ = display(grid, GT, a, len(a), dump)
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for x in all:
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if(x[0] == GT.coor[0] and x[1] == GT.coor[1]):
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#recognize which dumpster are we visiting
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Xz=np.where(all==x)[0]
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x =[item for item, count in collections.Counter(Xz).items() if count > 1]
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predicted=numbering.pred(dumpsters[x[0]].numberx,dumpsters[x[0]].numbery)
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#recognizing whether a house is our client and trying to collect trash
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if(predicted not in paying_customers):
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print("House number is: ",predicted," but it is not our customer")
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else:
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print("House number is: ",predicted)
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GT.collectingTrash(dumpsters, x[0])
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# remove visited dumpster
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a = a[~((a[:,0] ==ZZ[0]) & (a[:,1] ==ZZ[1]))]
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#print("Dumpsters left: ",len(a))
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# visit Garbage Dump at the end
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if len(a) == 0:
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print("Going to the Garbage Dump")
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display(grid, GT, dump.coor, len(a), dump)
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print("Checking garbage inside the truck: ")
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gds.sortDump(GT.plastic, GT.paper, GT.metal, GT.cardboard, GT.glass, clf, GT, dump)
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print("Garbage sorted: ")
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print("Paper: " + str(dump.paper))
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print("Cardboard: " + str(dump.cardboard))
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print("Metal: " + str(dump.metal))
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print("Plastic: " + str(dump.plastic))
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print("Glass: " + str(dump.glass))
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done = True
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drawGrid(grid, 20, len(a), dump)
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screen.blit(GT.picture, ((WIDTH) * GT.coor[0], (HEIGHT) *GT.coor[1]))
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pygame.display.flip()
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time.sleep(6)
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pygame.quit()
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