Waiter_group/route_for_project.py

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Python
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2020-05-18 11:58:08 +02:00
import pygame
import numpy as np
import math
import pickle
# Colors:
# Define some colors
BLACK = (0, 0, 0)
WHITE = (255, 255, 255)
GREEN = (0, 255, 0)
RED = (255, 0, 0)
BLUE = (0, 0, 240)
YELLOW = (255, 255, 0)
#Width and Height of each square:
WIDTH = 20
HEIGHT = 20
#Margin:
MARGIN = 5
grid = [[0 for x in range(16)] for y in range(16)]
def change_value(i, j, width, n):
for r in range (i, i+width):
for c in range (j, j+width):
grid[r][c] = n
class Table:
def __init__(self, coordinate_i, coordinate_j):
self.coordinate_i = coordinate_i
self.coordinate_j = coordinate_j
change_value(coordinate_i, coordinate_j, 2, 1)
def get_destination_coor(self):
return [self.coordinate_i, self.coordinate_j-1]
class Kitchen:
def __init__(self, coordinate_i, coordinate_j):
self.coordinate_i = coordinate_i
self.coordinate_j = coordinate_j
change_value(coordinate_i, coordinate_j, 3, 2)
class Agent:
def __init__(self,orig_coordinate_i, orig_coordinate_j):
self.orig_coordinate_i = orig_coordinate_i
self.orig_coordinate_j = orig_coordinate_j
self.state = np.array([orig_coordinate_i,orig_coordinate_j])
change_value(orig_coordinate_j, orig_coordinate_j, 1, 3)
self.state_update(orig_coordinate_i, orig_coordinate_j)
def state_update(self, c1, c2):
self.state[0] = c1
self.state[1] = c2
def leave(self):
change_value(self.state[0], self.state[1], 1, 0)
def move_to(self, nextPos):
self.leave()
nextPos_x, nextPos_y = nextPos
self.state_update(nextPos_x, nextPos_y)
change_value(self.state[0], self.state[1], 1, 3)
def check_done():
for event in pygame.event.get(): # Checking for the event
if event.type == pygame.QUIT: # If the program is closed:
return True # To exit the loop
def draw_grid(visited):
for row in range(16): # Drawing the grid
for column in range(16):
color = WHITE
if grid[row][column] == 1:
color = GREEN
if grid[row][column] == 2:
color = RED
if grid[row][column] == 3:
color = BLUE
if (row, column) in visited or (row, column) in table_targets:
color = YELLOW
pygame.draw.rect(screen,
color,
[(MARGIN + WIDTH) * column + MARGIN,
(MARGIN + HEIGHT) * row + MARGIN,
WIDTH,
HEIGHT])
## default positions of the agent:
x = 12
y = 12
agent = Agent(x, y)
table1 = Table(2, 2)
table2 = Table (2,7)
table3 = Table(2, 12)
table4 = Table(7, 2)
table5 = Table(7, 7)
table6 = Table(7, 12)
table7 = Table(12, 2)
table8 = Table(12, 7)
#class Kitchen:
kitchen = Kitchen(13, 13)
pygame.init()
WINDOW_SIZE = [405, 405]
screen = pygame.display.set_mode(WINDOW_SIZE)
pygame.display.set_caption("Waiter_Grid3")
done = False
clock = pygame.time.Clock()
with open('res_targets_4-1.data', 'rb') as filehandle:
# read the data as binary data stream
trained_route = pickle.load(filehandle)
print(trained_route)
destination = (9, 4)
trained_route.append(destination)
table_targets = [(4, 4),(4, 9),(4, 14),(9, 4)]
# -------- Main Program Loop -----------
while not done:
visited = set()
screen.fill(BLACK) # Background color
draw_grid(visited)
done = check_done()
new_route = trained_route[:]
while len(new_route) != 0:
x = agent.state[0]
y = agent.state[1]
agent.move_to(new_route[0])
new_route = new_route[1:]
pygame.time.delay(150)
screen.fill(BLACK)
visited.add((x,y))
draw_grid(visited)
# Drawing the grid
clock.tick(100) # Limit to 60 frames per second
pygame.display.flip() # Updating the screen
pygame.quit()