From ed1262930c7a4f793f2ef42b2f8f26df2e2eec7b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Aleksander=20Szama=C5=82ek?= Date: Wed, 25 May 2022 14:33:37 +0200 Subject: [PATCH] order execution --- ForkliftAgent.py | 103 +++++++++++++++++++++++++++++++++++++++++++- GameModel.py | 110 ++++++++--------------------------------------- main.py | 3 +- 3 files changed, 122 insertions(+), 94 deletions(-) diff --git a/ForkliftAgent.py b/ForkliftAgent.py index 5201ca2..6ed6278 100644 --- a/ForkliftAgent.py +++ b/ForkliftAgent.py @@ -1,18 +1,37 @@ 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): + 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] = [] def queue_movement_actions(self, movement_actions: List[Action]): self.action_queue.extend(movement_actions) @@ -55,8 +74,88 @@ class ForkliftAgent(AgentBase): 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.PASTA: + packing_station = stations[PatchType.packingA] + elif i.real_type == ItemType.EGG: + packing_station = stations[PatchType.packingB] + elif i.real_type == ItemType.PIZZA: + 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: - self.move() + if len(self.action_queue) > 0: + self.move() + elif 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)) diff --git a/GameModel.py b/GameModel.py index e8db162..64d0ea7 100644 --- a/GameModel.py +++ b/GameModel.py @@ -13,8 +13,6 @@ from PatchType import PatchType from data.GameConstants import GameConstants 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.PathfinderOnStates import PathFinderOnStates, PathFinderState @@ -41,11 +39,6 @@ class GameModel(Model): self.client_delivery: PatchAgent = None self.drop_off: PatchAgent = None - - self.agents = [AgentBase] - self.forklift_agent = ForkliftAgent(self) - self.schedule.add(self.forklift_agent) - self.agents.append(self.forklift_agent) self.graph = graph self.game_constants = GameConstants( @@ -55,11 +48,27 @@ class GameModel(Model): graph.puddles ) + self.agents = [AgentBase] + + self.forklift_agent = ForkliftAgent( + self, + self.game_constants, + self.client_delivery, + self.drop_off, + self.graph + ) + + self.schedule.add(self.forklift_agent) + self.agents.append(self.forklift_agent) + # INITIALIZATION # print("############## INITIALIZATION ##############") self.phase = Phase.INIT self.initialize_grid(graph) self.orderList: List[Order] = InitialStateFactory.generate_order_list(3) + self.fulfilled_orders: List[Order] = [] + self.forklift_agent.orderList = self.orderList + self.forklift_agent.fulfilled_orders = self.fulfilled_orders print("############## RECOGNISE ITEMS ##############") self.phase = Phase.ITEM_RECOGNITION @@ -99,11 +108,13 @@ class GameModel(Model): self.grid.place_agent(agent, agent.location) self.agents.append(agent) self.client_delivery = agent + self.forklift_agent.client_delivery = self.client_delivery agent = PatchAgent(self, (0, int(self.grid.height / 2)), PatchType.dropOff) self.grid.place_agent(agent, agent.location) self.agents.append(agent) self.drop_off = agent + self.forklift_agent.drop_off = self.drop_off def place_walls_agents(self, walls: List[GridLocation]): for w in walls: @@ -145,93 +156,10 @@ class GameModel(Model): # TODO GENERICS SORTING sorted(self.orderList, key=lambda x: len(x.items)) print("FINISHED CLIENT ORDER SORTING") - self.phase = Phase.PLAN_MOVEMENT - - if self.phase == Phase.PLAN_MOVEMENT: - if len(self.orderList) > 0: - self.plan_actions() - self.phase = Phase.EXECUTION - else: - print("NO MORE ORDERS") + self.phase = Phase.EXECUTION if self.phase == Phase.EXECUTION: print("Execution") - if (len(self.forklift_agent.action_queue) == 0): - self.phase = Phase.PLAN_MOVEMENT - - def plan_actions(self): - order = self.orderList.pop(0) - print("PLAN MOVEMENT") - for i in order.items: - if self.first: - # get item - pathFinder = PathFinderOnStates( - self.game_constants, - self.drop_off.location, - PathFinderState(self.forklift_agent.current_position, - self.forklift_agent.current_rotation, - 0, - Action(ActionType.NONE), - []) - ) - actions = pathFinder.get_action_list() - self.forklift_agent.queue_movement_actions(actions) - self.first = False - else: - # get item - pathFinder = PathFinderOnStates( - self.game_constants, - self.drop_off.location, - PathFinderState(self.client_delivery.location, - Direction.right, - 0, - Action(ActionType.NONE), - []) - ) - actions = pathFinder.get_action_list() - self.forklift_agent.queue_movement_actions(actions) - self.first = False - - # go through station - packing_station: GridLocation = None - stations = dict(self.graph.packingStations) - if i.real_type == ItemType.PASTA: - packing_station = stations[PatchType.packingA] - elif i.real_type == ItemType.EGG: - packing_station = stations[PatchType.packingB] - elif i.real_type == ItemType.PIZZA: - packing_station = stations[PatchType.packingC] - - pathFinder = PathFinderOnStates( - self.game_constants, - packing_station, - PathFinderState(self.drop_off.location, - Direction.left, - 0, - Action( - desired_item=i, - action_type=ActionType.PICK_ITEM - ), - []) - ) - actions = pathFinder.get_action_list() - self.forklift_agent.queue_movement_actions(actions) - - # go to client delivery area - pathFinder = PathFinderOnStates( - self.game_constants, - self.client_delivery.location, - PathFinderState(packing_station, - Direction.right, - 0, - Action(ActionType.NONE), - []) - ) - actions = pathFinder.get_action_list() - self.forklift_agent.queue_movement_actions(actions) - self.forklift_agent.queue_movement_actions( - [Action(ActionType.DROP_ITEM)] - ) def recognise_item(self, item: Item): # TODO IMAGE PROCESSING diff --git a/main.py b/main.py index 9881bc2..1235ae6 100644 --- a/main.py +++ b/main.py @@ -69,9 +69,10 @@ if __name__ == '__main__': provided_itesm = DisplayAttributeElement("provided_items") recognised_items = DisplayAttributeElement("recognised_items") ordersText = DisplayAttributeElement("orderList") + fulfilled_orders = DisplayAttributeElement("fulfilled_orders") server = ModularServer(GameModel, - [grid, readyText, provided_itesm, recognised_items], + [grid, readyText, provided_itesm, recognised_items, ordersText, fulfilled_orders], "Automatyczny Wózek Widłowy", {"width": gridHeight, "height": gridWidth, "graph": diagram}, )