369 lines
13 KiB
Python
369 lines
13 KiB
Python
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import pygame
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import numpy as np
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import math
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########################
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### WS ###
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########################
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# For CNN:
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import keras
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from keras.preprocessing import image
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from keras.models import Sequential
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from keras.layers import Convolution2D
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from keras.layers import MaxPooling2D
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from keras.layers import Flatten
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from keras.layers import Dense
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#initializing:
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classifier = Sequential()
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#Convolution:
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classifier.add(Convolution2D(32, (3, 3), input_shape =(256, 256, 3), activation = "relu"))
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#Pooling:
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classifier.add(MaxPooling2D(pool_size = (2,2)))
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# Adding a second convolutional layer
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classifier.add(Convolution2D(32, 3, 3, activation = 'relu'))
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classifier.add(MaxPooling2D(pool_size = (2, 2)))
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#Flattening:
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classifier.add(Flatten())
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#Fully connected layers::
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classifier.add(Dense(units = 128, activation = "relu"))
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classifier.add(Dense(units = 3, activation = "softmax"))
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# loading weigjts:
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classifier.load_weights('s444523/best_model_weights2.h5')
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#Making CNN:
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classifier.compile(optimizer = "adam", loss = "categorical_crossentropy", metrics = ["accuracy"])
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########################
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### WS ###
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########################
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# Colors:
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# Define some colors
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BLACK = (0, 0, 0)
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WHITE = (255, 255, 255)
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GREEN = (0, 255, 0)
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RED = (255, 0, 0)
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BLUE = (0, 0, 240)
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#Width and Height of each square:
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WIDTH = 20
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HEIGHT = 20
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#Margin:
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MARGIN = 5
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grid = [[0 for x in range(16)] for y in range(16)]
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def change_value(i, j, width, n):
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for r in range (i, i+width):
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for c in range (j, j+width):
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grid[r][c] = n
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# the class "Table"
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class Table:
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def __init__(self, coordinate_i, coordinate_j, state = 0):
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self.coordinate_i = coordinate_i
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self.coordinate_j = coordinate_j
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self.state = state
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change_value(coordinate_i, coordinate_j, 2, 1)
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def get_destination_coor(self):
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return [self.coordinate_i, self.coordinate_j-1]
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########################
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### WS ###
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########################
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# The finction "state of meal" chooses a photo of a plate at the given table.
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def state_of_meal(self):
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## !!!!!!###
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num = np.random.randint(67, 100)
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## !!!!!!###
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if num<=67:
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img_name = 'plates/{}.png'.format(num)
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else:
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img_name = 'plates/{}.jpg'.format(num)
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return img_name
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# The function "change state" changes the value of the state variable.
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# It informs, whether the client are waiting for the waiter to make an order
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# (0 - empty plates) are eating (2 - full plates) or are waiting for the
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# waiter to get a recipt (1 - dirty plates)
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def change_state(self, st):
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self.state = st
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########################
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### /WS ###
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########################
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class Kitchen:
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def __init__(self, coordinate_i, coordinate_j):
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self.coordinate_i = coordinate_i
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self.coordinate_j = coordinate_j
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change_value(coordinate_i, coordinate_j, 3, 2)
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class Agent:
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def __init__(self,orig_coordinate_i, orig_coordinate_j):
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self.orig_coordinate_i = orig_coordinate_i
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self.orig_coordinate_j = orig_coordinate_j
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self.state = np.array([1,2])
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change_value(orig_coordinate_j, orig_coordinate_j, 1, 3)
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self.state_update(orig_coordinate_i, orig_coordinate_j)
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self.previous_grid = np.array([-1, -1])
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def state_update(self, c1, c2):
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self.state[0] = c1
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self.state[1] = c2
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def leave(self):
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change_value(self.state[0], self.state[1], 1, 0)
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def previous_grid_update(self):
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self.previous_grid[0] = self.state[0]
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self.previous_grid[1] = self.state[1]
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def move_to(self, nextPos):
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self.previous_grid_update()
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self.leave()
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self.state_update(x + nextPos[0], y + nextPos[1])
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change_value(self.state[0], self.state[1], 1, 3)
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########################
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### WS ###
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########################
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#The function "define_table" serches for the apropriate table in the
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# table_dict (to enable the usage of class attributes and methods)
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def define_table(self, t_num):
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t_num = 'table{}'.format(t_num)
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t_num = table_dict[t_num]
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return t_num
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# The function "check_plates" uses the pretrained CNN model to classify
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# the plate on the table as empty(0), full(2) or dirty(1)
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def check_plates(self, table_number):
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table = self.define_table(table_number)
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plate = table.state_of_meal()
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plate= image.load_img(plate, target_size = (256, 256))
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plate = image.img_to_array(plate)
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plate = np.expand_dims(plate, axis = 0)
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result = classifier.predict(plate)[0]
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print (result)
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if result[1] == 1:
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result[1] = 0
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x = int(input("Excuse me, have You done eating? 1=Yes, 2 = No \n"))
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result[x] = 1
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for i, x in enumerate(result):
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if result[i] == 1:
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table.change_state(i)
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########################
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### /WS ###
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########################
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# check the next grid is not the previous grid to prevent the loop
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def next_is_previous(self, x, y):
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return np.array_equal(self.previous_grid, np.array([x, y]))
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def check_done():
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for event in pygame.event.get(): # Checking for the event
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if event.type == pygame.QUIT: # If the program is closed:
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return True # To exit the loop
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def draw_grid():
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for row in range(16): # Drawing the grid
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for column in range(16):
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color = WHITE
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if grid[row][column] == 1:
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color = GREEN
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if grid[row][column] == 2:
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color = RED
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if grid[row][column] == 3:
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color = BLUE
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pygame.draw.rect(screen,
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color,
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[(MARGIN + WIDTH) * column + MARGIN,
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(MARGIN + HEIGHT) * row + MARGIN,
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WIDTH,
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HEIGHT])
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# calculate the distance between two points
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def distance(point1, point2):
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return math.sqrt((point2[0] - point1[0])**2 + (point2[1] - point1[1])**2)
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## default positions of the agent:
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x = 12
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y = 12
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agent = Agent(x, y)
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table1 = Table(2, 2)
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table2 = Table (2,7)
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table3 = Table(2, 12)
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table4 = Table(7, 2)
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table5 = Table(7, 7)
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table6 = Table(7, 12)
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table7 = Table(12, 2)
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table8 = Table(12, 7)
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################### WS #####################
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# I added the dict to loop through tables.
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table_dict = {"table1":table1, "table2":table2, "table3":table3,"table4":table4,
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"table5":table5,"table6":table6,"table7":table7,"table8":table8
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}
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################### WS #####################
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#class Kitchen:
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kitchen = Kitchen(13, 13)
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# destination array
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destination_tables = []
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pygame.init()
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WINDOW_SIZE = [405, 405]
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screen = pygame.display.set_mode(WINDOW_SIZE)
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pygame.display.set_caption("Waiter_Grid3")
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done = False
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clock = pygame.time.Clock()
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# -------- Main Program Loop -----------
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while not done:
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screen.fill(BLACK) # Background color
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draw_grid()
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done = check_done()
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for value in table_dict.values(): destination_tables.append(value.get_destination_coor())
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# We need to define the number of the table by which we are in:
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num_of_table = 1
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while len(destination_tables) != 0:
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# set the first element(table) in array as currDestination
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currDestination = destination_tables[0]
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# from kitchen to table
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while agent.state[0] != currDestination[0] or agent.state[1] != currDestination[1]:
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#///////////////////////////////////////
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x = agent.state[0]
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y = agent.state[1]
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# set a huge default number
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minDis = 9999
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nextPos = []
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# check whether the agent goes left
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if y-1 >= 0 and grid[x][y-1] != 1 and not agent.next_is_previous(x, y-1):
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minDis = distance([x, y-1], currDestination)
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nextPos = [0, -1] # means go left
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# check whether the agent goes right
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if y+1 <= 15 and grid[x][y+1] != 1 and grid[x][y+1] != 2 and not agent.next_is_previous(x, y+1):
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d = distance([x, y+1], currDestination)
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if d < minDis:
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minDis = d
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nextPos = [0, 1] # means go right
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# check whether the agent goes up
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if x-1 >= 0 and grid[x-1][y] != 1 and not agent.next_is_previous(x-1, y):
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d = distance([x-1, y], currDestination)
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if d < minDis:
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minDis = d
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nextPos = [-1, 0] # means go up
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# check whether the agent goes down
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if x+1 <= 15 and grid[x+1][y] != 1 and grid[x+1][y] != 2 and not agent.next_is_previous(x+1, y):
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d = distance([x+1, y], currDestination)
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if d < minDis:
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minDis = d
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nextPos = [1, 0] # means go down
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# print(agent.previous_grid)
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agent.move_to(nextPos)
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#////////////////////////////////////////////////
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pygame.time.delay(100)
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screen.fill(BLACK) # Background color
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draw_grid() # Drawing the grid
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clock.tick(60) # Limit to 60 frames per second
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pygame.display.flip() # Updating the screen
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########################
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### WS ###
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########################
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#pygame.time.delay(100)
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print("I'm at a table no. {}".format(num_of_table))
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## Checking at what state are the plates:
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agent.check_plates(num_of_table)
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num_of_table +=1
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########################
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### /WS ###
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########################
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# set the kitchen as currDestination
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currDestination = [13, 12]
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# from table to kitchen
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while agent.state[0] != currDestination[0] or agent.state[1] != currDestination[1]:
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#///////////////////////////////////////
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x = agent.state[0]
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y = agent.state[1]
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# set a huge default number
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minDis = 9999
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nextPos = []
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# check whether the agent goes left
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if y-1 >= 0 and grid[x][y-1] != 1 and not agent.next_is_previous(x, y-1):
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minDis = distance([x, y-1], currDestination)
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nextPos = [0, -1] # means go left
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# check whether the agent goes right
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if y+1 <= 15 and grid[x][y+1] != 1 and grid[x][y+1] != 2 and not agent.next_is_previous(x, y+1):
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d = distance([x, y+1], currDestination)
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if d < minDis:
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minDis = d
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nextPos = [0, 1] # means go right
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# check whether the agent goes up
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if x-1 >= 0 and grid[x-1][y] != 1 and grid[x-1][y] != 2 and not agent.next_is_previous(x-1, y):
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d = distance([x-1, y], currDestination)
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if d < minDis:
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minDis = d
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nextPos = [-1, 0] # means go up
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# check whether the agent goes down
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if x+1 <= 15 and grid[x+1][y] != 1 and grid[x+1][y] != 2 and not agent.next_is_previous(x+1, y):
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d = distance([x+1, y], currDestination)
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if d < minDis:
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minDis = d
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nextPos = [1, 0] # means go down
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agent.move_to(nextPos)
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#////////////////////////////////////////////////
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pygame.time.delay(100)
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screen.fill(BLACK) # Background color
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draw_grid() # Drawing the grid
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clock.tick(60) # Limit to 60 frames per second
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pygame.display.flip() # Updating the screen
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destination_tables = destination_tables[1:] # remove the first element in the list
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# After each fool loop, we can quit the program:.
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if len(destination_tables) == 0:
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play_again = 1
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play_again = int(input("Exit? 0=No, 1=Yes \n"))
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if play_again:
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pygame.quit()
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pygame.quit()
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