add auto mode moving - integrate astar, neural network and decision tree

Readme.md

@@ -10,6 +10,12 @@ virtualenv venv
 source activate
 pip3 install -r requirements.txt
 ```
+#### 2.1 Graphviz
+For ubuntu, we probably need to download graphviz library by apt-get
+```bash
+sudo apt-get install graphviz
+```
+
 ### 3. Run application
 ```bash
 python3 main.py
@@ -37,13 +43,20 @@ HORIZONTAL_NUM_OF_FIELDS = 3
 
 #### 4.1 Save generated map:
 ```bash
-python main.py --save-map
+python3 main.py --save-map
 ```
 Map will be saved in maps directory. 
 Generated filename: map-uuid
 
 #### 4.2 Load map
 ```bash
-python main.py --load-map=name_of_map
+python3 main.py --load-map=name_of_map
 ```
 Map must be in the maps directory with json extension.
+
+#### 4.3 Auto mode
+Tractor will make own decisions such as harvesting, hydrating and so on using a decision tree.
+It also will be moving by a star algorithm and it will be checking fields using a neural network during harvesting crops.
+```bash
+python3 main.py --auto-mode
+```

app/__init__.py

@@ -24,6 +24,13 @@ class App:
         self.__tractor = Tractor(self.__board)
         self.__bot_is_running = Event()
         self.__moves = None
+        self.__auto_mode = self.get_auto_mode_arg(args)
+
+    def get_auto_mode_arg(self, args: list[Arg]):
+        for arg in args:
+            if arg.get_arg_name() == AUTO_MODE:
+                return True
+        return False
 
     def initialize(self):
         pygame.init()
@@ -79,7 +86,7 @@ class App:
                 self.__tractor.run_bot_handler(self.__moves, self.__bot_is_running)
 
         if keys[pygame.K_c]:
-            self.get_moves_by_a_star()
+            self.get_moves_by_a_star_with_random_coords()
             if not self.__moves:
                 print(f"A Star is failed")
             else:
@@ -88,7 +95,7 @@ class App:
                 self.__tractor.run_bot_handler(self.__moves, self.__bot_is_running)
 
         if keys[pygame.K_a]:
-            self.auto_moving()
+            self.auto_moving_mode()
 
     def update_screen(self) -> None:
         pygame.display.flip()
@@ -96,19 +103,46 @@ class App:
     def quit(self) -> None:
         pygame.quit()
 
-    def auto_moving(self) -> None:
+    def auto_moving_mode(self):
-        self.__tractor.choose_action()
+        coords, action = self.get_coords_and_action()
-
-    def get_moves_by_a_star(self) -> None:
         x, y = self.__tractor.get_position()
-        node = Node(None, x, y, self.__tractor.get_direction(), 0, "movement", "initial state")
+        if coords is not None:
-        board = copy.deepcopy(self.__board)
+            x1, y1 = coords
+        else:
+            x1, y1 = None, None
+        print(action, coords)
+        if action != A_DO_NOTHING and x1 == x and y == y1:
+            self.__tractor.do_action_on_fields(action)
+        elif action == A_DO_NOTHING:
+            print(action)
+        elif not self.__moves:
+            print(f"A Star is failed")
+        else:
+            print(f"A Star is succeed")
+            self.__bot_is_running.set()
+            self.__tractor.run_auto_bot_handler(action, self.__moves, self.__bot_is_running)
+
+    def get_coords_and_action(self) -> tuple[tuple[int, int], str]:
+        coords, action = self.__tractor.choose_action()
+        if coords is not None:
+            self.get_moves_by_a_star(coords)
+        else:
+            self.__moves = None
+        return coords, action[0]
+
+    def get_moves_by_a_star_with_random_coords(self) -> None:
         x1 = random.randint(0, HORIZONTAL_NUM_OF_FIELDS)
         y1 = random.randint(0, VERTICAL_NUM_OF_FIELDS)
         dest = (x1, y1)
-        self.__moves = AStar.search_solution(PriorityQueue(), Queue(), dest, node,
+        self.get_moves_by_a_star(dest)
+
+    def get_moves_by_a_star(self, coords: tuple[int, int]) -> None:
+        x, y = self.__tractor.get_position()
+        node = Node(None, x, y, self.__tractor.get_direction(), 0, "movement", "initial state")
+        board = copy.deepcopy(self.__board)
+        self.__moves = AStar.search_solution(PriorityQueue(), Queue(), coords, node,
                                              lambda n=node, b=board: AStar.succ(n, b),
-                                             lambda d=dest, n=node: AStar.goaltest_by_coords(d, n), board)
+                                             lambda d=coords, n=node: AStar.goaltest_by_coords(d, n), board)
 
     def get_moves_by_bfs(self) -> None:
         x, y = self.__tractor.get_position()
@@ -123,11 +157,14 @@ class App:
 
         while self.__running:
             self.__clock.tick(FPS)
+
             for event in pygame.event.get():
                 self.event_handler(event)
 
-            if not self.__bot_is_running.is_set():
+            if not self.__bot_is_running.is_set() and not self.__auto_mode:
                 self.keys_pressed_handler()
+            if not self.__bot_is_running.is_set() and self.__auto_mode:
+                self.auto_moving_mode()
 
             self.loop_handler()
             self.update_screen()

app/a_star.py

@@ -89,7 +89,7 @@ class AStar(Graphsearch):
     @staticmethod
     def search_solution(fringe: PriorityQueue, explored: Queue, destination: tuple[int, int], istate: Node,
                succ: Callable[[Node, Board], list],
-               goaltest: Callable[[tuple[int,int], Node], bool], board: Board) -> Union[bool, list]:
+               goaltest: Callable[[tuple[int, int], Node], bool], board: Board) -> Union[bool, list]:
 
         print(f"Start A*")
         fringe.put(PriorityItem(istate, 0))

app/cmd_parser.py

@@ -26,7 +26,9 @@ class CommandLineParser:
                 if arg == SAVE_MAP:
                     print("Saving map")
                     results.append(Arg(SAVE_MAP))
-
+                if arg == AUTO_MODE:
+                    print("Auto mode")
+                    results.append(Arg(AUTO_MODE))
                 elif arg.find(LOAD_MAP, 0, len(LOAD_MAP)-1):
                     cmd = arg.split("=")
                     if len(cmd) == 2:

app/createModel.py

@@ -1,68 +0,0 @@
-from tensorflow.keras.models import Sequential, save_model
-from tensorflow.keras.layers import Dense, Flatten, Conv2D
-from tensorflow.keras.losses import sparse_categorical_crossentropy
-from tensorflow.keras.optimizers import Adam
-from tensorflow.keras.preprocessing.image import ImageDataGenerator
-from config import RESOURCE_DIR
-import os
-
-# labels
-
-labels = ["cabbage", "carrot", "corn", "lettuce", "paprika", "potato", "tomato"]
-
-# Data configuration
-training_set_folder = os.path.join(RESOURCE_DIR, 'smaller_train')
-test_set_folder = os.path.join(RESOURCE_DIR, 'smaller_test')
-
-# Model config
-batch_size = 25
-img_width, img_height, img_num_channels = 25, 25, 3
-loss_function = sparse_categorical_crossentropy
-no_classes = 7
-no_epochs = 40
-optimizer = Adam()
-verbosity = 1
-
-# Determine shape of the data
-input_shape = (img_width, img_height, img_num_channels)
-
-# Create a generator
-train_datagen = ImageDataGenerator(
-  rescale=1./255
-)
-train_datagen = train_datagen.flow_from_directory(
-        training_set_folder,
-        save_to_dir=os.path.join(RESOURCE_DIR, "adapted-images"),
-        save_format='jpeg',
-        batch_size=batch_size,
-        target_size=(25, 25),
-        class_mode='sparse')
-
-# Create the model
-model = Sequential()
-model.add(Conv2D(16, kernel_size=(5, 5), activation='relu', input_shape=input_shape))
-model.add(Conv2D(32, kernel_size=(5, 5), activation='relu'))
-model.add(Conv2D(64, kernel_size=(5, 5), activation='relu'))
-model.add(Conv2D(128, kernel_size=(5, 5), activation='relu'))
-model.add(Flatten())
-model.add(Dense(16, activation='relu'))
-model.add(Dense(no_classes, activation='softmax'))
-
-# Display a model summary
-model.summary()
-
-# Compile the model
-model.compile(loss=loss_function,
-              optimizer=optimizer,
-              metrics=['accuracy'])
-
-# Start training
-model.fit(
-        train_datagen,
-        epochs=no_epochs,
-        shuffle=False)
-
-# Saving model
-filepath = os.path.join(RESOURCE_DIR, 'saved_model')
-save_model(model, filepath)
-

app/fields.py

@@ -59,10 +59,10 @@ class Sand(Soil):
         self._value = VALUE_OF_SAND
 
     def transform(self) -> list:
-        if not self.is_hydrated :
+        if not self.is_sowed :
-            return [0, 1, 0, 0]
-        else:
             return [0, 0, 1, 0]
+        else:
+            return [0, 1, 0, 0]
 
 
 class Grass(Plant):

app/loadFromSavedModel.py

@@ -1,30 +0,0 @@
-from tensorflow.keras.models import load_model
-from tensorflow import keras as k
-import numpy as np
-from config import RESOURCE_DIR
-import os
-
-# Load the model
-model = load_model(
-    os.path.join(RESOURCE_DIR, "saved_model"),
-    custom_objects=None,
-    compile=True
-)
-
-# Data fror predictions
-img_width, img_height, img_num_channels = 25, 25, 3
-labels = ["cabbage", "carrot", "corn", "lettuce", "paprika", "potato", "tomato"]
-
-# Predictions
-filename = 'Image_1.jpg'
-loaded_image = k.preprocessing.image.load_img(path=RESOURCE_DIR + '/smaller_test/potato/' + filename,
-                                              target_size=(img_width, img_height, img_num_channels))
-# convert to array and resample dividing by 255
-img_array = k.preprocessing.image.img_to_array(loaded_image) / 255.
-
-# add sample dimension. the predictor is expecting (1, CHANNELS, IMG_WIDTH, IMG_HEIGHT)
-img_np_array = np.expand_dims(img_array, axis=0)
-
-predictions = model.predict(img_np_array)
-prediction = np.argmax(predictions[0])
-print(f'Ground truth: {filename} - Prediction: {labels[prediction]}')

app/tractor.py

@@ -31,7 +31,7 @@ class Tractor(BaseField):
         self.__board = board
         self.__harvested_corps = []
         self.__fuel = 10
-        self.__neural_network = None
+        self.__neural_network = NeuralNetwork()
         self.__tree = DecisionTree()
         self.__weather = Weather()
 
@@ -105,7 +105,10 @@ class Tractor(BaseField):
             field.is_sowed = True
 
     def harvest(self) -> None:
-        if self.check_field(Crops):
+        field = self.get_field_from_board()
+        prediction = self.__neural_network.check(field)
+
+        if prediction.capitalize() in CROPS:
             print('Harvest')
             field = self.get_field_from_board()
             self.harvest_crops(field)
@@ -194,26 +197,47 @@ class Tractor(BaseField):
         print(f"Length of Moves {len(moves)}")  # - {3 ** len(moves)}")
         while len(moves) > 0:
             movement, action = moves.pop(0)
+
             # do action
             time.sleep(0.5)
-            print(f"Action {action}")
+            self.do_action_on_fields(action)
-            if action == A_FERTILIZE:
-                self.fertilize()
-            elif action == A_SOW:
-                self.sow()
-                self.hydrate()
-            elif action == A_HYDRATE:
-                self.hydrate()
-            elif action == A_HARVEST:
-                self.harvest()
-            time.sleep(1)
 
             # move
+            time.sleep(1)
             self.move_or_rotate(movement)
 
             time.sleep(TIME_OF_MOVING)
         is_running.clear()
 
+    def do_action_on_fields(self, action: str) -> None:
+        print(f"Action {action}")
+        if action == A_FERTILIZE:
+            self.fertilize()
+        elif action == A_SOW:
+            self.sow()
+            # self.hydrate()
+        elif action == A_HYDRATE:
+            self.hydrate()
+        elif action == A_HARVEST:
+            self.harvest()
+
+    def run_auto_bot_handler(self, action: str, moves: list[tuple[str, str]], is_running: threading.Event) -> None:
+        thread = threading.Thread(target=self.run_auto_bot, args=(action, moves, is_running), daemon=True)
+        thread.start()
+
+    def run_auto_bot(self, action_type: str, moves: list[tuple[str, str]], is_running: threading.Event) -> None:
+        print(moves)
+        # print('Auto mode')
+        while len(moves) > 0:
+            movement, action = moves.pop(0)
+            # move
+            self.move_or_rotate(movement)
+            time.sleep(0.7)
+
+        self.do_action_on_fields(action_type)
+        time.sleep(1)
+        is_running.clear()
+
     def move_or_rotate(self, movement: str) -> None:
         print(f"Move {movement}")
         if movement == M_GO_FORWARD:
@@ -309,16 +333,27 @@ class Tractor(BaseField):
 
         is_running.clear()
 
-    def choose_action(self) -> tuple[tuple[int,int],str]:
+    def choose_action(self) -> tuple[tuple[int, int], str]:
         vectors = self.__board.convert_fields_to_vectors()
         print(vectors)
         coords = None
         action = None
-        for i in range(HORIZONTAL_NUM_OF_FIELDS):
+
-            for j in range(VERTICAL_NUM_OF_FIELDS):
+        i_max = HORIZONTAL_NUM_OF_FIELDS
+        j_max = VERTICAL_NUM_OF_FIELDS
+
+        i_min = random.randint(0, HORIZONTAL_NUM_OF_FIELDS - 1)
+        j_min = random.randint(0, VERTICAL_NUM_OF_FIELDS - 1)
+
+        i = i_min
+        flag = True
+        while i < i_max and flag:
+            for j in range(j_min, j_max):
                 action = self.__tree.make_decision(self.__weather, vectors[i][j])
                 if action != A_DO_NOTHING:
                     coords = (i, j)
+                    flag = False
                     break
+            i += 1
         print(coords, action)
         return coords, action

config.py

@@ -14,7 +14,7 @@ __all__ = (
     'A_SOW', 'A_HARVEST', 'A_HYDRATE', 'A_FERTILIZE', 'A_DO_NOTHING',
     'TYPES_OF_ACTION', 'D_NORTH', 'D_EAST', 'D_SOUTH', 'D_WEST',
     'VALUE_OF_CROPS', 'VALUE_OF_PLANT', 'VALUE_OF_SAND', 'VALUE_OF_CLAY',
-    'MAP_FILE_NAME', 'JSON', 'SAVE_MAP', 'LOAD_MAP',
+    'MAP_FILE_NAME', 'JSON', 'SAVE_MAP', 'LOAD_MAP', 'AUTO_MODE',
     'TRAINING_SET_DIR', 'TEST_SET_DIR', 'ADAPTED_IMG_DIR', 'MODEL_DIR',
     'DATA_DIR','IMG_DECISION_TREE','MODEL_TREE_FILENAME','DATA_TRAINING_FOR_DECISION_TREE'
 )
@@ -86,10 +86,10 @@ A_DO_NOTHING = "do nothing"
 TYPES_OF_ACTION = [A_SOW, A_HARVEST, A_HYDRATE, A_FERTILIZE, A_DO_NOTHING]
 
 # Costs fields:
-VALUE_OF_CROPS = 0.25
+VALUE_OF_CROPS = 0.2
-VALUE_OF_PLANT = 0.5
+VALUE_OF_PLANT = 0.3
-VALUE_OF_SAND = 0.75
+VALUE_OF_SAND = 0.4
-VALUE_OF_CLAY = 1
+VALUE_OF_CLAY = 0.5
 
 # Weather
 W_SUNNY = 'Sunny'
@@ -113,3 +113,4 @@ TIME_OF_MOVING = 2
 # Args
 SAVE_MAP = '--save-map'
 LOAD_MAP = '--load-map'
+AUTO_MODE = '--auto-mode'