107 lines
3.5 KiB
Python
107 lines
3.5 KiB
Python
import pygame
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import random
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import a_star
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from pygame.locals import *
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from Forklift import Forklift
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import decision_tree
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HORIZONTAL = 1250
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VERTICAL = 750
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TILE_SIZE = 50
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def roll_pack(tree):
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c_label = random.randint(0, 3) # 0 - no label, 1 - fragile, 2 - hazardous, 3 - any other
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c_size = random.randint(1, 3) # 1 - small, 2 - medium, 3 - large
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c_weight = random.randint(1, 3) # -||-
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c_urgent = random.randint(0, 1) # yes/no
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c_weekend = random.randint(0, 1) # stays for the weekend yes/no
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c_payment_method = random.randint(0, 2) # not paid, prepaid, cash on delivery
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c_international = random.randint(1, 4) # domestic, european, us, everywhere else
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c_delayed = random.randint(0, 1) # yes/no
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decision = decision_tree.make_decision(tree, c_label, c_size, c_weight, c_urgent, c_weekend,
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c_payment_method, c_international, c_delayed)
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return decision
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# sectors:
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# 1 - regular,
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# 2 - hazardous,
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# 3 - international,
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# 4 - overdue
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def handle_decision(decision):
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if decision == '1':
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row = 10 + 2 * random.randint(0, 2)
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col = random.randint(1, 5) + 6 * random.randint(0, 1)
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print('regular')
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elif decision == '2':
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row = 10 + 2 * random.randint(0, 2)
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col = random.randint(1, 5) + 6 * random.randint(2, 3)
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print('hazardous')
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elif decision == '3':
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row = 2 * random.randint(0, 2)
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col = random.randint(1, 5) + 6 * random.randint(0, 1)
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print('international')
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else:
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row = 2 * random.randint(0, 2)
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col = random.randint(1, 5) + 6 * random.randint(2, 3)
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print('overdue')
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return row, col
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def handle_turn(initial_state, turn_count, tree):
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if turn_count % 2 == 0:
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commands = a_star.a_star(state=initial_state, goal=(7, 23))
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else:
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# row = random.randint(0, 1) * 10 + 2 * random.randint(0, 2)
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# col = random.randint(1, 5) + 6 * random.randint(0, 3)
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decision = roll_pack(tree)
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destination = handle_decision(decision)
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commands = a_star.a_star(state=initial_state, goal=destination)
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print('I need to go to row, column: ' + str(destination))
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return commands
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class Program:
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def __init__(self):
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pygame.init()
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self.window = pygame.display.set_mode((HORIZONTAL, VERTICAL))
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self.caption = pygame.display.set_caption('Autonomiczny wózek widłowy')
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self.agent = Forklift(self.window)
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self.agent.drawForklift()
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running = True
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turn_count = 0
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initial_state = a_star.State(row=int(self.agent.y / 50), column=int(self.agent.x / 50),
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direction=self.agent.direction)
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tree = decision_tree.treelearn()
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while running:
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commands = handle_turn(initial_state=initial_state, turn_count=turn_count, tree=tree)
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while commands:
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pygame.event.poll()
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step = commands.pop(0)
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if step == 'rotate_left':
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self.agent.rotate_forklift_left()
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elif step == 'rotate_right':
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self.agent.rotate_forklift_right()
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elif step == 'go':
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self.agent.forklift_move()
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pygame.time.delay(250)
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print(commands)
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turn_count += 1
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pygame.time.delay(2000)
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initial_state.row = int(self.agent.y / 50)
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initial_state.column = int(self.agent.x / 50)
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initial_state.direction = self.agent.direction
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