From f6a07386a862855f4f99b6e3060e9412b675c799 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Aleksander=20Szama=C5=82ek?= <aleksander.szamalek@gmail.com>
Date: Thu, 28 Apr 2022 02:09:41 +0200
Subject: [PATCH] implemented movement on states

---
 ForkliftAgent.py | 91 +++++++++++++++++++++++++-----------------------
 GameModel.py     | 12 +------
 2 files changed, 48 insertions(+), 55 deletions(-)

diff --git a/ForkliftAgent.py b/ForkliftAgent.py
index 9162587..4eab835 100644
--- a/ForkliftAgent.py
+++ b/ForkliftAgent.py
@@ -1,58 +1,61 @@
-from typing import Tuple
-
-from mesa import Agent
+from typing import Tuple, List
 
 from AgentBase import AgentBase
 from data.Direction import Direction
-from util.AgentIdFactory import AgentIdFactory
+from decision.ActionType import ActionType
 
 
 class ForkliftAgent(AgentBase):
 
     def __init__(self, model):
         super().__init__(model)
-        # self.movement_queue = [Tuple[int, int]]
-        # self.current_position = Tuple[int, int]
+        self.movement_queue = []
+        self.current_position = Tuple[int, int]
         self.current_rotation = Direction.right
 
-    # def assign_new_movement_task(self, movement_list):
-    #     self.movement_queue = []
-    #
-    #     for m in movement_list:
-    #         self.movement_queue.append(m)
-    #
-    #     print("Assigned new movement queue to forklift agent")
-    #
-    # def get_proper_rotation(self, next_pos: Tuple[int, int]) -> Direction:
-    #
-    #     if next_pos[0] < self.current_position[0]:
-    #         return Direction.left
-    #     elif next_pos[0] > self.current_position[0]:
-    #         return Direction.right
-    #     elif next_pos[1] > self.current_position[1]:
-    #         return Direction.top
-    #     elif next_pos[1] < self.current_position[1]:
-    #         return Direction.down
-    #     elif next_pos == self.current_position:
-    #         return self.current_rotation
-    #
-    # def move(self):
-    #     if len(self.movement_queue) > 0:
-    #         next_pos = self.movement_queue.pop(0)
-    #
-    #         dir = self.get_proper_rotation(next_pos)
-    #
-    #         if dir == self.current_rotation:
-    #             print("move {} --> {}".format(self.current_position, next_pos))
-    #             self.current_position = next_pos
-    #         else:
-    #             print("rotate {} --> {}".format(self.current_rotation, dir))
-    #             self.current_rotation = dir
-    #             self.movement_queue.insert(0, next_pos)
-    #
-    # def step(self) -> None:
-    #     print("forklift step")
-    #     self.move()
+    def queue_movement_actions(self, movement_actions: List[ActionType]):
+        self.movement_queue.extend(movement_actions)
+
+    def move(self):
+        if len(self.movement_queue) > 0:
+            action = self.movement_queue.pop(0)
+
+            if action == ActionType.ROTATE_UP:
+                print("rotate {} --> {}".format(self.current_rotation, action))
+                self.current_rotation = Direction.top
+
+            elif action == ActionType.ROTATE_RIGHT:
+                print("rotate {} --> {}".format(self.current_rotation, action))
+                self.current_rotation = Direction.right
+
+            elif action == ActionType.ROTATE_DOWN:
+                print("rotate {} --> {}".format(self.current_rotation, action))
+                self.current_rotation = Direction.down
+
+            elif action == ActionType.ROTATE_LEFT:
+                print("rotate {} --> {}".format(self.current_rotation, action))
+                self.current_rotation = Direction.left
+
+            elif action == ActionType.MOVE:
+                if self.current_rotation == Direction.top:
+                    print("move {} --> {}".format(self.current_position, action))
+                    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))
+                    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))
+                    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))
+                    self.current_position = (self.current_position[0] - 1, self.current_position[1])
+
+    def step(self) -> None:
+        print("forklift step")
+        self.move()
 
     def creation_log(self):
         print("Created Forklift Agent [id: {}]".format(self.unique_id))
diff --git a/GameModel.py b/GameModel.py
index 7b9b683..6f42f20 100644
--- a/GameModel.py
+++ b/GameModel.py
@@ -51,23 +51,13 @@ class GameModel(Model):
                             ActionType.NONE, [])
         )
 
-        # came_from, cost_so_far = a_star_search(graph, start, goal)
-        # draw_grid(graph, point_to=came_from, start=start, goal=goal)
-        #
-        # path = map(lambda t: (t[0], inverse_y(height, t[1])),
-        #            reconstruct_path(came_from=came_from, start=start, goal=goal))
-        #
-        # print("cam from: {}".format(came_from))
-        # print("costerino: {}".format(cost_so_far))
-        # draw_grid(graph, path=reconstruct_path(came_from, start=start, goal=goal))
-        # self.forklift_agent.assign_new_movement_task(path)
-
         self.place_patch_agents()
         self.place_walls_agents(graph.walls)
 
         actions = pathFinder.getActionList()
         print("PATHFINDING")
         print(actions)
+        self.forklift_agent.queue_movement_actions(actions)
 
     def place_patch_agents(self):
         agent = PatchAgent(self, PatchType.pickUp)