order execution
This commit is contained in:
Aleksander Szamałek
Aleksander Szamałek
parent
c568bc02df
commit
ed1262930c
103
ForkliftAgent.py
103
ForkliftAgent.py
@ -1,18 +1,37 @@
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from typing import Tuple, List
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from AgentBase import AgentBase
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from PatchAgent import PatchAgent
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from PatchType import PatchType
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from data.Item import Item
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from data.Order import Order
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from data.enum.Direction import Direction
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from data.enum.ItemType import ItemType
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from decision.Action import Action
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from decision.ActionType import ActionType
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from pathfinding.PathFinderState import PathFinderState
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from pathfinding.PathfinderOnStates import PathFinderOnStates
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from util.PathDefinitions import GridLocation, GridWithWeights
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class ForkliftAgent(AgentBase):
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def __init__(self, model):
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def __init__(self, model, game_constants, client_delivery: PatchAgent, drop_off: PatchAgent,
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graph: GridWithWeights):
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super().__init__(model)
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self.action_queue: List[Action] = []
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self.current_position = Tuple[int, int]
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self.current_rotation = Direction.right
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self.orderList = []
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self.fulfilled_orders: List[Order] = []
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self.client_delivery: PatchAgent = client_delivery
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self.drop_off: PatchAgent = drop_off
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self.graph = graph
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self.game_constants = game_constants
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self.current_order: Order = None
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self.current_item = None
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self.item_station_completed = False
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self.provided_items: List[Item] = []
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def queue_movement_actions(self, movement_actions: List[Action]):
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self.action_queue.extend(movement_actions)
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@ -55,8 +74,88 @@ class ForkliftAgent(AgentBase):
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print("move {} --> {}".format(self.current_position, action_type))
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self.current_position = (self.current_position[0] - 1, self.current_position[1])
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def plan_actions(self):
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if len(self.current_order.items) > 0:
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i = self.current_order.items.pop(0)
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if self.current_item is None:
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self.provided_items.clear()
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self.current_item = i
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print("PLAN MOVEMENT")
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# get item
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.drop_off.location,
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PathFinderState(self.current_position,
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self.current_rotation,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.queue_movement_actions(actions)
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elif not self.item_station_completed:
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# go through station
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packing_station: GridLocation = None
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stations = dict(self.graph.packingStations)
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if i.real_type == ItemType.PASTA:
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packing_station = stations[PatchType.packingA]
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elif i.real_type == ItemType.EGG:
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packing_station = stations[PatchType.packingB]
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elif i.real_type == ItemType.PIZZA:
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packing_station = stations[PatchType.packingC]
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pathFinder = PathFinderOnStates(
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self.game_constants,
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packing_station,
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PathFinderState(self.current_position,
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self.current_rotation,
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0,
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Action(
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desired_item=i,
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action_type=ActionType.PICK_ITEM
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),
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[])
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)
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actions = pathFinder.get_action_list()
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self.queue_movement_actions(actions)
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self.item_station_completed = True
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else:
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# go to client delivery area
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.client_delivery.location,
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PathFinderState(self.current_position,
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self.current_rotation,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.queue_movement_actions(actions)
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self.queue_movement_actions(
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[Action(ActionType.DROP_ITEM)]
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)
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self.current_item = None
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self.provided_items.append(self.current_item)
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self.item_station_completed = False
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def step(self) -> None:
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self.move()
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if len(self.action_queue) > 0:
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self.move()
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elif len(self.orderList) > 0:
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if (self.current_order is not None and len(self.current_order.items)) == 0:
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self.fulfilled_orders.append(self.current_order)
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self.current_order = None
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if self.current_order is None:
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self.current_order = self.orderList.pop(0)
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self.plan_actions()
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def creation_log(self):
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print("Created Forklift Agent [id: {}]".format(self.unique_id))
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110
GameModel.py
110
GameModel.py
@ -13,8 +13,6 @@ from PatchType import PatchType
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from data.GameConstants import GameConstants
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from data.Item import Item
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from data.Order import Order
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from data.enum.Direction import Direction
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from data.enum.ItemType import ItemType
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from decision.Action import Action
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from decision.ActionType import ActionType
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from pathfinding.PathfinderOnStates import PathFinderOnStates, PathFinderState
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@ -41,11 +39,6 @@ class GameModel(Model):
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self.client_delivery: PatchAgent = None
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self.drop_off: PatchAgent = None
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self.agents = [AgentBase]
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self.forklift_agent = ForkliftAgent(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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self.graph = graph
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self.game_constants = GameConstants(
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@ -55,11 +48,27 @@ class GameModel(Model):
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graph.puddles
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)
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self.agents = [AgentBase]
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self.forklift_agent = ForkliftAgent(
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self,
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self.game_constants,
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self.client_delivery,
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self.drop_off,
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self.graph
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)
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self.schedule.add(self.forklift_agent)
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self.agents.append(self.forklift_agent)
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# INITIALIZATION #
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print("############## INITIALIZATION ##############")
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self.phase = Phase.INIT
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self.initialize_grid(graph)
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self.orderList: List[Order] = InitialStateFactory.generate_order_list(3)
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self.fulfilled_orders: List[Order] = []
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self.forklift_agent.orderList = self.orderList
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self.forklift_agent.fulfilled_orders = self.fulfilled_orders
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print("############## RECOGNISE ITEMS ##############")
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self.phase = Phase.ITEM_RECOGNITION
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@ -99,11 +108,13 @@ class GameModel(Model):
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self.grid.place_agent(agent, agent.location)
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self.agents.append(agent)
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self.client_delivery = agent
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self.forklift_agent.client_delivery = self.client_delivery
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agent = PatchAgent(self, (0, int(self.grid.height / 2)), PatchType.dropOff)
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self.grid.place_agent(agent, agent.location)
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self.agents.append(agent)
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self.drop_off = agent
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self.forklift_agent.drop_off = self.drop_off
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def place_walls_agents(self, walls: List[GridLocation]):
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for w in walls:
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@ -145,93 +156,10 @@ class GameModel(Model):
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# TODO GENERICS SORTING
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sorted(self.orderList, key=lambda x: len(x.items))
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print("FINISHED CLIENT ORDER SORTING")
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self.phase = Phase.PLAN_MOVEMENT
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if self.phase == Phase.PLAN_MOVEMENT:
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if len(self.orderList) > 0:
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self.plan_actions()
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self.phase = Phase.EXECUTION
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else:
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print("NO MORE ORDERS")
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self.phase = Phase.EXECUTION
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if self.phase == Phase.EXECUTION:
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print("Execution")
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if (len(self.forklift_agent.action_queue) == 0):
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self.phase = Phase.PLAN_MOVEMENT
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def plan_actions(self):
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order = self.orderList.pop(0)
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print("PLAN MOVEMENT")
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for i in order.items:
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if self.first:
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# get item
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.drop_off.location,
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PathFinderState(self.forklift_agent.current_position,
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self.forklift_agent.current_rotation,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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self.first = False
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else:
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# get item
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.drop_off.location,
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PathFinderState(self.client_delivery.location,
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Direction.right,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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self.first = False
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# go through station
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packing_station: GridLocation = None
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stations = dict(self.graph.packingStations)
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if i.real_type == ItemType.PASTA:
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packing_station = stations[PatchType.packingA]
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elif i.real_type == ItemType.EGG:
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packing_station = stations[PatchType.packingB]
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elif i.real_type == ItemType.PIZZA:
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packing_station = stations[PatchType.packingC]
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pathFinder = PathFinderOnStates(
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self.game_constants,
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packing_station,
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PathFinderState(self.drop_off.location,
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Direction.left,
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0,
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Action(
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desired_item=i,
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action_type=ActionType.PICK_ITEM
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),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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# go to client delivery area
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.client_delivery.location,
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PathFinderState(packing_station,
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Direction.right,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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self.forklift_agent.queue_movement_actions(
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[Action(ActionType.DROP_ITEM)]
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)
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def recognise_item(self, item: Item):
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# TODO IMAGE PROCESSING
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3
main.py
3
main.py
@ -69,9 +69,10 @@ if __name__ == '__main__':
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provided_itesm = DisplayAttributeElement("provided_items")
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recognised_items = DisplayAttributeElement("recognised_items")
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ordersText = DisplayAttributeElement("orderList")
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fulfilled_orders = DisplayAttributeElement("fulfilled_orders")
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server = ModularServer(GameModel,
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[grid, readyText, provided_itesm, recognised_items],
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[grid, readyText, provided_itesm, recognised_items, ordersText, fulfilled_orders],
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"Automatyczny Wózek Widłowy",
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{"width": gridHeight, "height": gridWidth, "graph": diagram}, )
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