nowe klasy i drzewo fix

.vs/VSWorkspaceState.json

@@ -3,6 +3,6 @@
     "",
     "\\decisionTree"
   ],
-  "SelectedNode": "\\decisionTree\\decisionTree.sav",
+  "SelectedNode": "\\decisionTree\\treemaker.py",
   "PreviewInSolutionExplorer": false
 }

classes.py

@@ -1,11 +1,13 @@
 class Field:
     def __init__(self, fieldType, plantType, isWet, wetTime, isFertilized, fertilizedTime):
-        self.fieldType =fieldType              #  good/bad
-        self.plantType =plantType              #  wheat/carrot/cabbage
-        self.isWet =isWet                      #  yes/no
-        self.wetTime =wetTime                  #  number
-        self.isFertilized =isFertilized        #  yes/no
-        self.fertilizedTime =fertilizedTime    #  number
+        self.fieldType = fieldType              # good/bad
+        self.plantType = plantType              # wheat/carrot/cabbage
+        self.isWet = isWet                      # yes/no
+        self.wetTime = wetTime                  # number
+        self.isFertilized = isFertilized        # yes/no
+        self.fertilizedTime = fertilizedTime    # number
+
+
 
 class Plant:
     def __init__(self, plantType, growthState):
@@ -21,4 +23,16 @@ class Fertilizer:
 class Player:
     x = 0
     y = 0
-    rotation = 0
+    rotation = 0
+
+
+class Watering:
+    def __init__(self, rain, planted, temperature, sunny, snowy, moist, rotten, dayTime ):
+        self.rain = rain                    # yes/no
+        self.planted = planted              # yes/no
+        self.temperature = temperature      # good/bad
+        self.sunny = sunny
+        self.snowy = snowy                  # yes/no
+        self.moist = moist                  # yes/no
+        self.rotten = rotten                # yes/no
+        self.dayTime = dayTime              # 1 2 3 4

decisionTree/treemaker.py

@@ -1,6 +1,7 @@
+# -*- coding: utf-8 -*-
 
 
-#from sklearn.datasets import load_iris
+# from sklearn.datasets import load_iris
 from sklearn.tree import export_text
 
 from sklearn.tree import DecisionTreeClassifier
@@ -8,7 +9,7 @@ import joblib
 
 X1 = []
 view = []
-with open("decisionTree/database.txt", 'r') as f:
+with open("database.txt", 'r') as f:
     for line in f:
         line = line.strip()
         test_list = [int(i) for i in line]
@@ -52,14 +53,14 @@ with open("decisionTree/database.txt", 'r') as f:
         view.append(x)
         X1.append(test_list)
 
-f = open("decisionTree/learning_set.txt", "w")              #zapisuje atrybuty s³ownie
+f = open("learning_set.txt", "w")              # zapisuje atrybuty s?ownie
 for i in view:
     f.write(str(i)+"\n")
 f.close()
 
 
 Y1 = []
-with open("decisionTree/decissions.txt", 'r') as f:         #czyta decyzje
+with open("decissions.txt", 'r') as f:         # czyta decyzje
     for line in f:
         line = line.strip()
         test = int(line)
@@ -67,9 +68,9 @@ with open("decisionTree/decissions.txt", 'r') as f:         #czyta decyzje
 
 dataset = X1
 decision = Y1
-labels = ['Rain','Plant','Temperature','Sun','Snow','Moisture','Rotten','Time']
+labels = ['Rain', 'Plant', 'Temperature', 'Sun', 'Snow', 'Moisture', 'Rotten', 'Time']
 model = DecisionTreeClassifier(random_state=0, max_depth=20).fit(dataset, decision)
-filename = 'decisionTree/decisionTree.sav'
+filename = 'decisionTree.sav'
 print("Model trained")
 print("Decision tree:")
 print(export_text(model, feature_names=labels))

main.py

@@ -1,9 +1,19 @@
+import joblib
+import numpy as np
 import pygame
+import random
+
+from genetic_algorithm import genetic_algorithm
+
+import torch
+from torch import nn
+from torchvision import datasets, transforms
+from torchvision.transforms import Lambda
+from PIL import Image
 
 import astar
-from classes import Field, Plant, Fertilizer, Player
-from bfs import Node
-from bfs import Istate, print_moves, succ
+from classes import Field, Player, Watering
+from bfs import Istate, succ
 from bfs import graphsearch
 from board import Grid, Box, Obstacle, getGridBoxes, gridObjects
 from screen import SCREEN
@@ -14,8 +24,81 @@ from screen import SCREEN
 Ucelu = False
 SCREENX = 500
 SCREENY = 500
+device = torch.device('cpu')
+model1 = nn.Sequential(nn.Linear(30000, 10000), nn.ReLU(), nn.Linear(10000, 10000), nn.ReLU(), nn.Linear(10000, 10000), nn.Linear(10000, 4), nn.LogSoftmax(dim=-1)).to(device)
+#  model1.load_state_dict(torch.load("./NN/trained"))
 
 pygame.display.set_caption('Inteligentny Traktor')
+plants = [[], [], []]
+plants[0].append(Image.open("NN/w1.png"))
+plants[0].append(Image.open("NN/w2.png"))
+plants[0].append(Image.open("NN/w3.png"))
+plants[1].append(Image.open("NN/c1.png"))
+plants[1].append(Image.open("NN/c2.png"))
+plants[1].append(Image.open("NN/c3.png"))
+plants[2].append(Image.open("NN/ca1.png"))
+plants[2].append(Image.open("NN/ca2.png"))
+plants[2].append(Image.open("NN/ca3.png"))
+b = [Image.open("NN/b1.png").convert('RGBA'), Image.open("NN/b2.png").convert('RGBA'), Image.open("NN/b3.png").convert('RGBA')]
+
+
+def generate(water, fertilizer, plantf):
+    if water == 1:
+        new_im = Image.new('RGB', (100, 100),
+                           (160 + random.randint(-10, 10), 80 + random.randint(-10, 10), 40 + random.randint(-10, 10)))
+        tmp = plants[plantf][random.randint(0, 2)].resize(
+            (25 + random.randint(-10, 25), 25 + random.randint(-10, 25))).rotate(random.randint(0, 359))
+        new_im.paste(tmp, (random.randint(0, 50), random.randint(0, 50)), tmp)
+        if fertilizer:
+            tmp = b[random.randint(0, 2)].resize(
+                (20 + random.randint(0, 25), 20 + random.randint(0, 25))).rotate(random.randint(0, 359))
+            new_im.paste(tmp, (random.randint(25, 75), random.randint(25, 75)), tmp)
+    else:
+        if fertilizer:
+            new_im = Image.new('RGB', (100, 100),
+                               (
+                                   50 + random.randint(-10, 10), 25 + random.randint(-10, 10),
+                                   0 + random.randint(-10, 10)))
+            tmp = plants[plantf][random.randint(0, 2)].resize(
+                (25 + random.randint(-10, 25), 25 + random.randint(-10, 25))).rotate(random.randint(0, 359))
+            new_im.paste(tmp, (random.randint(0, 50), random.randint(0, 50)), tmp)
+            tmp = b[random.randint(0, 2)].resize(
+                (20 + random.randint(0, 25), 20 + random.randint(0, 25))).rotate(random.randint(0, 359))
+            new_im.paste(tmp, (random.randint(25, 75), random.randint(25, 75)), tmp)
+
+        else:
+            if random.randint(0, 1) == 1:
+                new_im = Image.new('RGB', (100, 100),
+                                   (50 + random.randint(-10, 10), 25 + random.randint(-10, 10),
+                                    0 + random.randint(-10, 10)))
+            else:
+                new_im = Image.new('RGB', (100, 100),
+                                   (160 + random.randint(-10, 10), 80 + random.randint(-10, 10),
+                                    40 + random.randint(-10, 10)))
+            if random.randint(0, 1) == 1:  # big
+                tmp = plants[plantf][random.randint(0, 2)].resize(
+                    (75 + random.randint(-10, 25), 75 + random.randint(-10, 25))).rotate(random.randint(0, 359))
+                new_im.paste(tmp, (random.randint(0, 15), random.randint(0, 15)), tmp)
+            else:
+                tmp = plants[plantf][random.randint(0, 2)].resize(
+                    (random.randint(10, 80), random.randint(10, 80))).rotate(random.randint(0, 359))
+                datas = tmp.getdata()
+
+                new_image_data = []
+                for item in datas:
+                    # change all white (also shades of whites) pixels to yellow
+                    if item[0] in list(range(190, 256)):
+                        new_image_data.append(
+                            (random.randint(0, 10), 255 + random.randint(-150, 0), random.randint(0, 10)))
+                    else:
+                        new_image_data.append(item)
+
+                # update image data
+                tmp.putdata(new_image_data)
+                new_im.paste(tmp, (random.randint(0, 30), random.randint(0, 30)), tmp)
+
+    return new_im
+
 
 # COLORS
 WHITE = (255, 255, 255)
@@ -43,18 +126,19 @@ obstacles = 1
 
 # BFS Variables
 
-
-
-startNode = Istate( 1,1,1)
-goalNode = [1,1]
+startNode = Istate(1, 1, 1)
+goalNode = [1, 1]
 
 graph = dict()
 pathFound = []  # Store the path in a list  box index to draw on later
 
-def drawGrid(sizex,sizey):
+wheat_path = []
+carrot_path = []
+cabbage_path = []
+
+def drawGrid(sizex, sizey):
     spaceX = SCREENX // sizex
     spaceY = SCREENY // sizey
-    width = 2
 
     counter = 1
     for i in range(sizex):
@@ -63,16 +147,18 @@ def drawGrid(sizex,sizey):
             g = Grid(50 + i*50, 50 + j*50, spaceX, spaceY)
             gridObjects[counter] = g
             counter += 1
-def generateGraph(row,col):
+
+
+def generateGraph(row, col):
     # This function generates a graph based on the gridObjects instantiated!
-    sample_graph = {'A':['B','C','E'],
-                    'B':['A','D','E'],
-                    'C':['A','F','G'],
-                    'D':['B'],
-                    'E':['A','B','D'],
-                    'F':['C'],
-                    'G':['C']
-                    }
+    # sample_graph = {'A': ['B', 'C', 'E'],
+    #                'B': ['A', 'D', 'E'],
+    #                'C': ['A', 'F', 'G'],
+    #                'D': ['B'],
+    #                'E': ['A', 'B', 'D'],
+    #                'F': ['C'],
+    #                'G': ['C']
+    #                }
 
     miniG = {}
     for grid in range(len(gridObjects)):
@@ -106,9 +192,9 @@ def generateGraph(row,col):
             if grid > col:  # Away from the Left Border of the Screen
                 if grid > (col*row)-col:  # You are on the Right Border of the screen - You can't go East
                     miniG[grid] = [gN, gS, gW]
-                else: # Away from the Right Border of the Screen - You can go East
+                else:  # Away from the Right Border of the Screen - You can go East
                     miniG[grid] = [gN, gS, gE, gW]
-            else: # You are on the Left Edge of the screen - You can't go West
+            else:  # You are on the Left Edge of the screen - You can't go West
                 miniG[grid] = [gN, gS, gE]
 
     # FILTER OUT OBSTACLES FROM THE GRAPH
@@ -118,7 +204,7 @@ def generateGraph(row,col):
         if grid not in gridObstacle:
             # gridObjects.remove(grid) # Dict object has no attribute : 'remove'
             # HACK
-            miniG2[grid] = miniG[grid] # Created a new dictionary that stored the values required
+            miniG2[grid] = miniG[grid]  # Created a new dictionary that stored the values required
             # IN-DEPTH FILTER - Filter out obstacles from the neighbors-list
             for neigbor in miniG2[grid]:
                 if neigbor in gridObstacle:
@@ -133,12 +219,13 @@ def generateGraph(row,col):
 
     return miniG2
 
-def drawGraph(pathF):
-    #Draws the path given the path-list
-    global Ucelu
-    #print(pathF)
 
-    if (Ucelu == False):
+def drawGraph(pathF):
+    # Draws the path given the path-list
+    global Ucelu
+    # print(pathF)
+
+    if not Ucelu:
         for grid in pathF:
             # g = gridObjects[grid]  # Get the grid-box object mentioned in the path
             # x = g.x
@@ -151,9 +238,9 @@ def drawGraph(pathF):
             if grid == 'rotate_right':
                 player.rotation = (player.rotation - 90) % 360
             if grid == 'rotate_left':
-                player.rotation = (player.rotation + 90) %360
+                player.rotation = (player.rotation + 90) % 360
 
-            #( player.rotation)
+            # (player.rotation)
 
             if grid == 'move':
                 if player.rotation == 0:
@@ -169,49 +256,11 @@ def drawGraph(pathF):
                     if player.y > 0:
                         player.y = player.y - 1
 
-
-            # if player.x < (x/50 - 1):
-            #     a = 1
-            # if player.x > (x/50 - 1):
-            #     a =2
-            # if player.y < (y/50 - 1):
-            #     a =3
-            # if player.y > (y/50 - 1):
-            #     a =4
-            #
-            # if a==1:
-            #     # player.x = x/50 - 1
-            #     player.rotation = 0
-            # if a==2:
-            #     # player.x = x/50 - 1
-            #     player.rotation = 180
-            # if a==3:
-            #     # player.y = y/50 - 1
-            #     player.rotation = 270
-            # if a==4:
-            #     # player.y = y/50 - 1
-            #     player.rotation = 90
-
-
-        # tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
-        # if player.rotation == 180:
-        #     tmpImg = pygame.transform.flip(tmpImg, True, True)
-        #     tmpImg = pygame.transform.flip(tmpImg, True, False)
-        #
-        # #player is seen on the way
-        #     SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
-        #     pygame.display.update()
-        #     # pygame.time.wait(300)
-
-            # player.y = y/50 - 1
-            # player.x = x/50 - 1
-
-            # -----------------------------
             i = 0
             while i < len(T):
                 j = 0
                 while j < len(T[i]):
-                    #color = (255, 255, 255, 0)
+                    # color = (255, 255, 255, 0)
                     if T[i][j].isWet == 0:
                         # a = 1
                         color = (160, 80, 40, 0)
@@ -219,7 +268,7 @@ def drawGraph(pathF):
                         # a = 1
                         color = (50, 25, 0, 0)
 
-                    #Covers 'player' on the way
+                    # Covers 'player' on the way
                     pygame.draw.rect(SCREEN, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
                     if T[i][j].plantType == 1:
                         SCREEN.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
@@ -237,7 +286,6 @@ def drawGraph(pathF):
             for obs in obstacleObjects:
                 obstacleObjects[obs].draw()
 
-
             for bx in boxObjects:
                 boxObjects[bx].draw()
 
@@ -252,30 +300,21 @@ def drawGraph(pathF):
                 tmpImg = pygame.transform.flip(tmpImg, True, True)
                 tmpImg = pygame.transform.flip(tmpImg, True, False)
 
-            #player is seen on the way
+            # player is seen on the way
             SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
 
-            # --------------------------------------
-
-            # tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
-            # # if flip:
-            # # if flip == True:
-            # if player.rotation == 180:
-            #     tmpImg = pygame.transform.flip(tmpImg, True, True)
-            #     tmpImg = pygame.transform.flip(tmpImg, True, False)
-            #
-            # SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
-
             pygame.display.update()
             pygame.time.wait(300)
-            SCREEN.fill((WHITE))
+            SCREEN.fill(WHITE)
             # pygame.time.wait(50)
             # pygame.draw.rect(SCREEN, WHITE, pygame.Rect(x, y, sx, sy))
             Ucelu = True
-def UIHandler(mouseObj):
+
+
+def UIHandler():
     # drawGrid(GRIDX, GRIDY)
     global Ucelu
-    drawGrid(10,10)
+    drawGrid(10, 10)
 
     for grid in gridObjects:
         gridObjects[grid].draw()
@@ -287,10 +326,10 @@ def UIHandler(mouseObj):
         obstacleObjects[obs].draw()
 
     if pathFound:
-            drawGraph(pathFound)
-            # Ucelu = False
+        drawGraph(pathFound)
 
-def eventHandler(kbdObj,mouseObj):
+
+def eventHandler(kbdObj, mouseObj):
     global boxes
     global obstacles
     global startNode
@@ -299,7 +338,7 @@ def eventHandler(kbdObj,mouseObj):
     global Ucelu
 
     if event.type == pygame.QUIT:
-        running = False
+        pygame.quit()
 
     if event.type == pygame.KEYDOWN:
         pygame.time.wait(DELAY)
@@ -345,15 +384,10 @@ def eventHandler(kbdObj,mouseObj):
 # If Key_f is pressed, set goal node
         if kbdObj[pygame.K_f]:
             gBox = getGridBoxes(int(len(gridObjects)))
-            # gBox = getGridBoxes()
 
-            #x = mouseObj[0]
-            #y = mouseObj[1]
-            # x = gBox.x
-            # y = gBox.y
             sx = gBox.sx
             sy = gBox.sy
-            # ----------------------------------------
+
             mseX = mouseObj[0]
             mseY = mouseObj[1]
 
@@ -363,42 +397,71 @@ def eventHandler(kbdObj,mouseObj):
                 y = g.y
                 sx = g.sx
                 sy = g.sy
-                if mseX > x and mseX < x + sx:
-                    if mseY > y and mseY < y + sy:
+                if x < mseX < x + sx:
+                    if y < mseY < y + sy:
                         posX = x
                         posY = y
-                        gridBox = grid
 
-            # SCREEN.blit(imgTree, (posX, posY))
-
-            # ---------------------------------------
             bo = Box(posX, posY, sx, sy, BLUE)
             boxObjects[boxes] = bo
-            # boxes += 1
             boxes = 1
-            # goalNode = GRIDX*GRIDX
-            # goalNode = (10 * (x + 1) + (y + 1) - 10)
-
-            # goalNode.state = int(10 * (posX/50 ) + (posY/50) - 10)
-
-            # goalNode[0] = int((posX/50)
-            # goalNode[1] = int(posY/50) - 10
 
             goalNode = [int(posX/50), int(posY/50)]
-            # goalNode = [10,10]
 
-            print(' goalNode x=', goalNode[0], 'goalNode y=', goalNode[1])
+            # drzewo decyzyjne:
+            W = np.random.randint(2, size=(10, 10, 8))
 
+            # Wczytywanie modelu z pliku
+            labels = ['Rain', 'Planted', 'Temperature', 'Sun', 'Snow', 'Moisture', 'Rotten', 'Time']
+            loaded_model = joblib.load('decisionTree/decisionTreeFinal.sav')
+            sample = W[goalNode[0]-1][goalNode[1]-1]
 
+            # Klasyfikacja przy użyciu wczytanego modelu
+            predicted_class = loaded_model.predict([sample])
+            print(labels)
+            print(sample)
+            print('Predicted class:', predicted_class)
 
+            # Decyzja dotycząca podlania grządek na podstawie przewidzianej etykiety
+            if predicted_class == [1]:
+                print('Podlej grządkę')
+            else:
+                print('Nie podlewaj grządki')
 
-            # pygame.display.update()
+            print('goalNode x = ', goalNode[0], 'goalNode y = ', goalNode[1])
 
-            # goalNode = (x/sx) * (y/sy)
             # Delay to avoid multiple spawning of objects
             pygame.time.wait(DELAY)
 
-            # If Key_x is pressed, spawn tree
+        if kbdObj[pygame.K_t]:
+            w = random.randint(0, 1)
+            f = random.randint(0, 1)
+            print(w)
+            print(f)
+            img = generate(w, f, random.randint(0, 2))
+            img.save('./test/00/test.png')
+
+            data_transform = transforms.Compose([
+                transforms.Resize(size=(100, 100)),
+                transforms.RandomHorizontalFlip(p=0.5),
+                transforms.ToTensor(),
+                Lambda(lambda x: x.flatten())
+            ])
+            datasets.ImageNet
+            train_data = datasets.ImageFolder(root="./test",
+                                              transform=data_transform,
+                                              target_transform=None)
+            model1.eval()
+            res = model1(train_data[0][0])
+            if res[0] == res.max():
+                print("0 0")
+            if res[1] == res.max():
+                print("0 1")
+            if res[2] == res.max():
+                print("1 0")
+            if res[3] == res.max():
+                print("1 1")
+            # img.show()
         if kbdObj[pygame.K_x]:
             obs = Obstacle(mouseObj)
             obstacleObjects[obstacles] = obs
@@ -417,44 +480,22 @@ def eventHandler(kbdObj,mouseObj):
                 y = g.y
                 sx = g.sx
                 sy = g.sy
-                if mseX > x and mseX < x + sx:
-                    if mseY > y and mseY < y + sy:
+                if x < mseX < x + sx:
+                    if y < mseY < y + sy:
                         posX = x
                         posY = y
 
-            T[int((posX/50)-1)][int((posY/50)-1)].plantType=4
-
+            T[int((posX/50)-1)][int((posY/50)-1)].plantType = 4
 
             pygame.display.update()
             pygame.time.wait(DELAY)
 
-
         # if Key_SPACE is pressed, start the magic
         if kbdObj[pygame.K_SPACE]:
             Ucelu = False
-            gBox = getGridBoxes(1)
 
-            x = gBox.x
-            y = gBox.y
-            sx = gBox.sx
-            sy = gBox.sy
-
-            x = (player.x +1) * 50
-            y = (player.y +1) * 50
-
-            # tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
-            # SCREEN.blit(tmpImg, (50 + 50 * player.x, 50 + 50 * player.y))
-            # pygame.display.update()
-
-            #when on it keeps flashing - among others
-            #bo = Box(x, y, sx, sy, RED)
-            #boxObjects[boxes] = bo
-
-            # boxes += 1
             boxes = 1
 
-            # startNode.state = (10 * (player.x + 1) + (player.y + 1) - 10)
-
             startNode.x = player.x + 1
             startNode.y = player.y + 1
 
@@ -467,17 +508,14 @@ def eventHandler(kbdObj,mouseObj):
             elif player.rotation == 270:
                 startNode.direction = 4
 
-            print(' startNode x=', startNode.x, 'startNode y= ', startNode.y, 'startNode direction =', startNode.direction)
+            print('startNode x = ', startNode.x, 'startNode y = ', startNode.y, 'startNode direction = ', startNode.direction)
 
-            graph = generateGraph(GRIDY,GRIDX)
+            graph = generateGraph(GRIDY, GRIDX)
             print(graph)
 
-            # if startNode != goalNode:
             if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
-                elem = []
 
-
-                move_list = (graphsearch([], [], goalNode, startNode))  # przeszukiwanie grafu wszerz
+                move_list = (graphsearch(goalNode, startNode))  # przeszukiwanie grafu wszerz
 
                 pathFound = move_list
 
@@ -489,32 +527,11 @@ def eventHandler(kbdObj,mouseObj):
             pygame.time.wait(DELAY)
             # startNode = goalNode
 
-
         if kbdObj[pygame.K_b]:
+
             Ucelu = False
-            gBox = getGridBoxes(1)
-
-            x = gBox.x
-            y = gBox.y
-            sx = gBox.sx
-            sy = gBox.sy
-
-            x = (player.x +1) * 50
-            y = (player.y +1) * 50
-
-            # tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
-            # SCREEN.blit(tmpImg, (50 + 50 * player.x, 50 + 50 * player.y))
-            # pygame.display.update()
-
-            #when on it keeps flashing - among others
-            #bo = Box(x, y, sx, sy, RED)
-            #boxObjects[boxes] = bo
-
-            # boxes += 1
             boxes = 1
 
-            # startNode.state = (10 * (player.x + 1) + (player.y + 1) - 10)
-
             startNode.x = player.x + 1
             startNode.y = player.y + 1
 
@@ -527,24 +544,12 @@ def eventHandler(kbdObj,mouseObj):
             elif player.rotation == 270:
                 startNode.direction = 4
 
-            print(' startNode x=', startNode.x, 'startNode y= ', startNode.y, 'startNode direction =', startNode.direction)
+            print('startNode x = ', startNode.x, 'startNode y = ', startNode.y, 'startNode direction = ', startNode.direction)
 
-            # startNode = (((player.x + 1)*10 - 9) * (player.y + 1) )
-            # startNode = 2
-
-            # tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
-            # SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
-            # pygame.display.update()
-
-            # Delay to avoid multiple spawning of objects
-            #pygame.time.wait(DELAY)
-
-            graph = generateGraph(GRIDY,GRIDX)
+            graph = generateGraph(GRIDY, GRIDX)
             print(graph)
 
-            # if startNode != goalNode:
             if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
-                elem = []
 
                 move_list = (astar.graphsearch([], astar.f, [], goalNode, startNode, T, succ))  # przeszukiwanie grafu wszerz
 
@@ -555,17 +560,150 @@ def eventHandler(kbdObj,mouseObj):
                 print(move_list)
                 print('\n')
 
-
-            # else:
-            #     startNode = (10 * (player.x + 1) + (player.y + 1) - 10)
-            # Ucelu = True
-
             # Delay to avoid multiple spawning of objects
             pygame.time.wait(DELAY)
 
-        #With it it keeps going, if without it turns off
+        if kbdObj[pygame.K_g]:
+
+            global wheat_path
+
+            if not wheat_path:
+                wheat = [(player.x+1, player.y+1), (4, 3), (6, 3), (7, 3), (9, 3), (10, 3), (5, 4), (5, 5), (6, 5), (10, 5), (3, 6), (4, 6), (6, 7), (7, 7), (8, 7)]
+                wheat_path = genetic_algorithm(wheat, player)
+                print("Best wheat path:", wheat_path)
+
+            if T[player.x][player.y].plantType != 0:
+                T[player.x][player.y].plantType = 0
+
+            if len(wheat_path) > 1:
+
+                Ucelu = False
+                boxes = 1
+
+                startNode.x = player.x + 1
+                startNode.y = player.y + 1
+
+                if player.rotation == 0:
+                    startNode.direction = 1
+                elif player.rotation == 90:
+                    startNode.direction = 2
+                elif player.rotation == 180:
+                    startNode.direction = 3
+                elif player.rotation == 270:
+                    startNode.direction = 4
+
+                generateGraph(GRIDY, GRIDX)
+
+                goalNode = [wheat_path[1][0], wheat_path[1][1]]
+
+                if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
+
+                    move_list = astar.graphsearch([], astar.f, [], goalNode, startNode, T, succ)  # przeszukiwanie grafu wszerz
+                    pathFound = move_list
+
+                wheat_path.pop(0)
+
+                # Delay to avoid multiple spawning of objects
+                pygame.time.wait(DELAY)
+
+            else:
+
+                print("All wheat collected!")
+
+        if kbdObj[pygame.K_h]:
+
+            global carrot_path
+
+            if not carrot_path:
+                carrot = [(player.x+1, player.y+1), (3, 1), (9, 2), (1, 3), (5, 3), (4, 4), (6, 4), (7, 4), (8, 4), (3, 5), (9, 5), (6, 6), (10, 10)]
+                carrot_path = genetic_algorithm(carrot, player)
+                print("Best carrot path:", carrot_path)
+
+            if T[player.x][player.y].plantType != 0:
+                T[player.x][player.y].plantType = 0
+
+            if len(carrot_path) > 1:
+
+                Ucelu = False
+                boxes = 1
+
+                startNode.x = player.x + 1
+                startNode.y = player.y + 1
+
+                if player.rotation == 0:
+                    startNode.direction = 1
+                elif player.rotation == 90:
+                    startNode.direction = 2
+                elif player.rotation == 180:
+                    startNode.direction = 3
+                elif player.rotation == 270:
+                    startNode.direction = 4
+
+                generateGraph(GRIDY, GRIDX)
+
+                goalNode = [carrot_path[1][0], carrot_path[1][1]]
+
+                if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
+
+                    move_list = astar.graphsearch([], astar.f, [], goalNode, startNode, T, succ)  # przeszukiwanie grafu wszerz
+                    pathFound = move_list
+
+                carrot_path.pop(0)
+
+                # Delay to avoid multiple spawning of objects
+                pygame.time.wait(DELAY)
+
+            else:
+
+                print("All carrot collected!")
+
+        if kbdObj[pygame.K_j]:
+
+            global cabbage_path
+
+            if not cabbage_path:
+                cabbage = [(player.x+1, player.y+1), (5, 1), (5, 2), (8, 3), (1, 4), (2, 4), (1, 5), (4, 5), (9, 6), (1, 8), (2, 8), (3, 8), (4, 8), (5, 8)]
+                cabbage_path = genetic_algorithm(cabbage, player)
+                print("Best cabbage path:", cabbage_path)
+
+            if T[player.x][player.y].plantType != 0:
+                T[player.x][player.y].plantType = 0
+
+            if len(cabbage_path) > 1:
+
+                Ucelu = False
+                boxes = 1
+
+                startNode.x = player.x + 1
+                startNode.y = player.y + 1
+
+                if player.rotation == 0:
+                    startNode.direction = 1
+                elif player.rotation == 90:
+                    startNode.direction = 2
+                elif player.rotation == 180:
+                    startNode.direction = 3
+                elif player.rotation == 270:
+                    startNode.direction = 4
+
+                generateGraph(GRIDY, GRIDX)
+
+                goalNode = [cabbage_path[1][0], cabbage_path[1][1]]
+
+                if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
+
+                    move_list = astar.graphsearch([], astar.f, [], goalNode, startNode, T, succ)  # przeszukiwanie grafu wszerz
+                    pathFound = move_list
+
+                cabbage_path.pop(0)
+
+                # Delay to avoid multiple spawning of objects
+                pygame.time.wait(DELAY)
+
+            else:
+
+                print("All cabbage collected!")
 
-        # Ucelu = False
 
 T = [[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,2,1,0,0,0),Field(1,3,0,0,0,0),Field(0,3,0,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,3,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
      [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,0,1,0,0,0),Field(1,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,3,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
@@ -576,20 +714,7 @@ T = [[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,2,1,0,0,0),Field(1,3,0,0,0,0
      [Field(1,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,0,1,0,0,0),Field(0,0,1,0,0,0),Field(0,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
      [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,3,1,0,0,0),Field(1,2,1,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(0,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
      [Field(1,0,0,0,0,0),Field(0,2,0,0,0,0),Field(1,1,0,0,0,0),Field(1,0,1,0,0,0),Field(0,2,1,0,0,0),Field(0,3,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
-     [Field(1,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,0,0,0,0,0),Field(0,1,1,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)]]
-
-
-#T = [[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,2,1,0,0,0),Field(1,3,0,0,0,0),Field(0,3,0,0,0,0),Field(0,0,1,0,0,0),Field(0,3,0,0,0,0),Field(1,0,1,0,0,0),Field(1,3,0,0,0,0),Field(1,2,1,0,0,0)],
-#     [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,0,1,0,0,0),Field(1,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(0,2,0,0,0,0),Field(1,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,1,0,0,0,0)],
-#     [Field(0,2,1,0,0,0),Field(0,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,0,0,0,0),Field(0,2,1,0,0,0),Field(0,1,1,0,0,0),Field(0,2,0,0,0,0),Field(1,0,0,0,0,0),Field(1,0,0,0,0,0),Field(1,1,0,0,0,0)],
-#     [Field(1,0,1,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,1,0,0,0,0),Field(0,0,0,0,0,0),Field(1,2,0,0,0,0),Field(1,0,0,0,0,0),Field(1,0,0,0,0,0)],
-#     [Field(1,3,0,0,0,0),Field(0,3,1,0,0,0),Field(1,2,1,0,0,0),Field(1,1,1,0,0,0),Field(0,1,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,0,1,0,0,0),Field(1,3,0,0,0,0),Field(1,0,1,0,0,0)],
-#     [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,1,0,0,0,0),Field(0,2,0,0,0,0),Field(0,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,1,1,0,0,0)],
-#     [Field(1,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,0,1,0,0,0),Field(0,0,1,0,0,0),Field(0,1,0,0,0,0),Field(1,2,1,0,0,0),Field(1,2,1,0,0,0),Field(1,0,0,0,0,0)],
-#     [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,3,1,0,0,0),Field(1,2,1,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(0,1,1,0,0,0),Field(1,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,1,1,0,0,0)],
-#     [Field(1,0,0,0,0,0),Field(0,2,0,0,0,0),Field(1,1,0,0,0,0),Field(1,0,1,0,0,0),Field(0,2,1,0,0,0),Field(0,3,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,0,0,0,0),Field(1,2,1,0,0,0),Field(1,2,1,0,0,0)],
-#     [Field(1,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,0,0,0,0,0),Field(0,1,1,0,0,0),Field(0,0,1,0,0,0),Field(0,1,0,0,0,0),Field(1,1,1,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0)]]
-
+     [Field(1,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,0,0,0,0,0),Field(0,1,1,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,2,1,0,0,0)]]
 
 
 # =========================================================================================
@@ -608,12 +733,12 @@ while running:
     for event in pygame.event.get():
         kbd = pygame.key.get_pressed()
         mse = pygame.mouse.get_pos()
-        UIHandler(mse)
+        UIHandler()
         eventHandler(kbd, mse)
     pygame.display.update()
     # CLOCK.tick(FPS)
 
-    #screen.fill((175, 255, 50, 0))
+    # screen.fill((175, 255, 50, 0))
 
     # SCREEN.fill((WHITE))
     imgWheat = pygame.image.load('img/wheat.png')
@@ -635,8 +760,10 @@ while running:
             else:
                 # a = 1
                 color = (50, 25, 0, 0)
-            #colour from the beginning
+            # colour from the beginning
             pygame.draw.rect(SCREEN, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
+            if T[i][j].plantType == 0:
+                pygame.draw.rect(SCREEN, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
             if T[i][j].plantType == 1:
                 SCREEN.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
             if T[i][j].plantType == 2:
@@ -646,10 +773,13 @@ while running:
             if T[i][j].plantType == 4:
                 SCREEN.blit(imgTree, (50 + 50 * i, 50 + 50 * j))
 
-
             j = j + 1
         i = i + 1
 
+    font = pygame.font.SysFont('comicsans', 22)
+    labelx = font.render('temp:22 |rain:none |snow:none |sun:cloudy |time:evening', True, (0, 0, 0))
+    SCREEN.blit(labelx, (10, 10))
+
     i = 0
     while i < len(T)+1:
         pygame.draw.line(SCREEN, (0, 0, 0), (50 + i * 50, 50), (50 + i * 50, 50 + len(T) * 50), 1)
@@ -660,35 +790,29 @@ while running:
         obstacleObjects[obs].draw()
 
     # if startNode.state != goalNode.state:
-    if startNode.x != goalNode[0] or startNode.y != goalNode[1] :
+    if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
         for bx in boxObjects:
             boxObjects[bx].draw()
 
-
     tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
     if player.rotation == 180:
         tmpImg = pygame.transform.flip(tmpImg, True, True)
         tmpImg = pygame.transform.flip(tmpImg, True, False)
 
-    #player seen at the beginning
+    # player seen at the beginning
     SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
 
 
-
-    # if Ucelu == False:
-    #     for bx in boxObjects:
-    #         boxObjects[bx].draw()
-
-
-    font = pygame.font.SysFont('comicsans', 18)
-    label = font.render('f- punkt końcowy, x- drzewa, spacja- uruchomienie', 1, (0, 0, 0))
-    label1 = font.render('strzałki-ręczne poruszanie traktorem,', 1, (0, 0, 0))
-    label2 = font.render('a- obrót w lewo, d- w prawo, w-ruch naprzód', 1, (0, 0, 0))
-    label3 = font.render('b - uruchom A*', 1, (0, 0, 0))
-    SCREEN.blit(label, (10, 570))
-    SCREEN.blit(label1, (10, 590))
-    SCREEN.blit(label2, (10, 610))
+    label = font.render('F - cel | X - drzewo', True, (0, 0, 0))
+    label1 = font.render('ARROWS - ręczne poruszanie', True, (0, 0, 0))
+    label2 = font.render('A - lewo | D - prawo | W - ruch', True, (0, 0, 0))
+    label3 = font.render('SPACE - BFS | B - A*', True, (0, 0, 0))
+    label4 = font.render('G - GA pszenica | H - GA marchewki | J - GA kapusty', True, (0, 0, 0))
+    SCREEN.blit(label, (10, 555))
+    SCREEN.blit(label1, (10, 580))
+    SCREEN.blit(label2, (10, 605))
     SCREEN.blit(label3, (10, 630))
+    SCREEN.blit(label4, (10, 655))
 
     # pygame.display.flip()
 
@@ -697,4 +821,4 @@ while running:
 
 # Done! Time to quit.
 
-pygame.quit()
+pygame.quit()