SI_InteligentnyWozekWidlowy/ForkliftAgent.py

from typing import Tuple, List

from AgentBase import AgentBase
from PatchAgent import PatchAgent
from PatchType import PatchType
from data.Item import Item
from data.Order import Order
from data.enum.Direction import Direction
from data.enum.ItemType import ItemType
from decision.Action import Action
from decision.ActionType import ActionType
from pathfinding.PathFinderState import PathFinderState
from pathfinding.PathfinderOnStates import PathFinderOnStates
from util.PathDefinitions import GridLocation, GridWithWeights


class ForkliftAgent(AgentBase):

    def __init__(self, model, game_constants, client_delivery: PatchAgent, drop_off: PatchAgent,
                 graph: GridWithWeights):
        super().__init__(model)
        self.action_queue: List[Action] = []
        self.current_position = Tuple[int, int]
        self.current_rotation = Direction.right
        self.orderList = []
        self.fulfilled_orders: List[Order] = []
        self.client_delivery: PatchAgent = client_delivery
        self.drop_off: PatchAgent = drop_off
        self.graph = graph
        self.game_constants = game_constants
        self.current_order: Order = None
        self.current_item = None
        self.item_station_completed = False
        self.provided_items: List[Item] = []
        self.ready_for_execution = False

    def queue_movement_actions(self, movement_actions: List[Action]):
        self.action_queue.extend(movement_actions)

    def move(self):
        if len(self.action_queue) > 0:
            action = self.action_queue.pop(0)
            action_type = action.action_type

            if action_type == ActionType.ROTATE_UP:
                print("rotate {} --> {}".format(self.current_rotation, action_type))
                self.current_rotation = Direction.top

            elif action_type == ActionType.ROTATE_RIGHT:
                print("rotate {} --> {}".format(self.current_rotation, action_type))
                self.current_rotation = Direction.right

            elif action_type == ActionType.ROTATE_DOWN:
                print("rotate {} --> {}".format(self.current_rotation, action_type))
                self.current_rotation = Direction.down

            elif action_type == ActionType.ROTATE_LEFT:
                print("rotate {} --> {}".format(self.current_rotation, action_type))
                self.current_rotation = Direction.left

            elif action_type == ActionType.MOVE:
                if self.current_rotation == Direction.top:
                    print("move {} --> {}".format(self.current_position, action_type))
                    self.current_position = (self.current_position[0], self.current_position[1] + 1)

                elif self.current_rotation == Direction.down:
                    print("move {} --> {}".format(self.current_position, action_type))
                    self.current_position = (self.current_position[0], self.current_position[1] - 1)

                elif self.current_rotation == Direction.right:
                    print("move {} --> {}".format(self.current_position, action_type))
                    self.current_position = (self.current_position[0] + 1, self.current_position[1])

                elif self.current_rotation == Direction.left:
                    print("move {} --> {}".format(self.current_position, action_type))
                    self.current_position = (self.current_position[0] - 1, self.current_position[1])

    def plan_actions(self):
        if len(self.current_order.items) > 0:
            i = self.current_order.items.pop(0)
            if self.current_item is None:
                self.provided_items.clear()
                self.current_item = i
                print("PLAN MOVEMENT")

                # get item
                pathFinder = PathFinderOnStates(
                    self.game_constants,
                    self.drop_off.location,
                    PathFinderState(self.current_position,
                                    self.current_rotation,
                                    0,
                                    Action(ActionType.NONE),
                                    [])
                )
                actions = pathFinder.get_action_list()
                self.queue_movement_actions(actions)

            elif not self.item_station_completed:
                # go through station

                packing_station: GridLocation = None
                stations = dict(self.graph.packingStations)
                if i.real_type == ItemType.SHELF:
                    packing_station = stations[PatchType.packingShelf]
                elif i.real_type == ItemType.REFRIGERATOR:
                    packing_station = stations[PatchType.packingRefrigerator]
                elif i.real_type == ItemType.DOOR:
                    packing_station = stations[PatchType.packingC]

                pathFinder = PathFinderOnStates(
                    self.game_constants,
                    packing_station,
                    PathFinderState(self.current_position,
                                    self.current_rotation,
                                    0,
                                    Action(
                                        desired_item=i,
                                        action_type=ActionType.PICK_ITEM
                                    ),
                                    [])
                )
                actions = pathFinder.get_action_list()
                self.queue_movement_actions(actions)
                self.item_station_completed = True

            else:
                # go to client delivery area
                pathFinder = PathFinderOnStates(
                    self.game_constants,
                    self.client_delivery.location,
                    PathFinderState(self.current_position,
                                    self.current_rotation,
                                    0,
                                    Action(ActionType.NONE),
                                    [])
                )
                actions = pathFinder.get_action_list()
                self.queue_movement_actions(actions)
                self.queue_movement_actions(
                    [Action(ActionType.DROP_ITEM)]
                )

                self.current_item = None
                self.provided_items.append(self.current_item)
                self.item_station_completed = False

    def step(self) -> None:
        if len(self.action_queue) > 0:
            self.move()
        elif self.ready_for_execution and len(self.orderList) > 0:
            if (self.current_order is not None and len(self.current_order.items)) == 0:
                self.fulfilled_orders.append(self.current_order)
                self.current_order = None

            if self.current_order is None:
                self.current_order = self.orderList.pop(0)

            self.plan_actions()

    def creation_log(self):
        print("Created Forklift Agent [id: {}]".format(self.unique_id))