67 lines
2.2 KiB
Python
67 lines
2.2 KiB
Python
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from mesa import Model
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from mesa.space import MultiGrid
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from mesa.time import RandomActivation
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from ForkliftAgent import ForkliftAgent
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from PatchAgent import PatchAgent
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from PatchType import PatchType
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from util.PathDefinitions import inverse_y
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from util.PathVisualiser import draw_grid, reconstruct_path
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from util.Pathfinder import a_star_search
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class GameModel(Model):
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def __init__(self, width, height, graph):
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# self.num_agents = 5
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self.running = True
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self.grid = MultiGrid(height, width, True)
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self.schedule = RandomActivation(self)
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self.agents = []
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self.forklift_agent = ForkliftAgent(0, self)
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self.schedule.add(self.forklift_agent)
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self.agents.append(self.forklift_agent)
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# Add the agent to a random grid cell
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x = 5
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y = 5
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self.grid.place_agent(self.forklift_agent, (x, y))
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self.forklift_agent.current_position = (x, y)
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start, goal = (x, y), (2, 1)
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came_from, cost_so_far = a_star_search(graph, start, goal)
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draw_grid(graph, point_to=came_from, start=start, goal=goal)
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path = map(lambda t: (t[0], inverse_y(height, t[1])),
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reconstruct_path(came_from=came_from, start=start, goal=goal))
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print("cam from: {}".format(came_from))
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print("costerino: {}".format(cost_so_far))
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draw_grid(graph, path=reconstruct_path(came_from, start=start, goal=goal))
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self.forklift_agent.assign_new_movement_task(path)
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agent = PatchAgent(1, self, PatchType.pickUp)
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# self.schedule.add(agent)
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self.grid.place_agent(agent, (self.grid.width - 1, self.grid.height - 1))
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self.agents.append(agent)
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agent = PatchAgent(2, self, PatchType.dropOff)
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# self.schedule.add(agent)
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self.grid.place_agent(agent, (0, self.grid.height - 1))
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self.agents.append(agent)
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for i in range(3):
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a = PatchAgent(i + 3, self, PatchType.item)
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self.agents.append(a)
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self.grid.place_agent(a, (i, 0))
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def step(self):
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self.schedule.step()
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print("update multiGrid")
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self.grid.remove_agent(self.forklift_agent)
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self.grid.place_agent(self.forklift_agent, self.forklift_agent.current_position)
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