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139
ForkliftAgent.py
139
ForkliftAgent.py
@ -1,8 +1,10 @@
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from copy import deepcopy
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from typing import Tuple, List
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from typing import Tuple, List
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from AgentBase import AgentBase
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from AgentBase import AgentBase
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from PatchAgent import PatchAgent
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from PatchAgent import PatchAgent
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from PatchType import PatchType
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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.Item import Item
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from data.Order import Order
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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.Direction import Direction
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@ -16,7 +18,7 @@ from util.PathDefinitions import GridLocation, GridWithWeights
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class ForkliftAgent(AgentBase):
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class ForkliftAgent(AgentBase):
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def __init__(self, model, game_constants, client_delivery: PatchAgent, drop_off: PatchAgent,
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def __init__(self, model, game_constants: GameConstants, client_delivery: PatchAgent, drop_off: PatchAgent,
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graph: GridWithWeights):
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graph: GridWithWeights):
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super().__init__(model)
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super().__init__(model)
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self.action_queue: List[Action] = []
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self.action_queue: List[Action] = []
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@ -28,11 +30,20 @@ class ForkliftAgent(AgentBase):
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self.drop_off: PatchAgent = drop_off
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self.drop_off: PatchAgent = drop_off
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self.graph = graph
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self.graph = graph
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self.game_constants = game_constants
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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.item_station_completed = False
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self.provided_items: List[Item] = []
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self.current_order_delivered_items: List[Item] = []
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self.ready_for_execution = False
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self.ready_for_execution = False
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self.last_delviered_item = None
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self.current_item: Item = None
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self.current_order = None
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self.base: GridLocation = None
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self.goal: GridLocation = None
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def set_base(self, drop_off: PatchAgent):
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self.drop_off = drop_off
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self.base = self.drop_off.location
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self.goal = self.base
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def queue_movement_actions(self, movement_actions: List[Action]):
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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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self.action_queue.extend(movement_actions)
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@ -43,120 +54,94 @@ class ForkliftAgent(AgentBase):
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action_type = action.action_type
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action_type = action.action_type
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if action_type == ActionType.ROTATE_UP:
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if action_type == ActionType.ROTATE_UP:
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print("rotate {} --> {}".format(self.current_rotation, action_type))
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# print("rotate {} --> {}".format(self.current_rotation, action_type))
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self.current_rotation = Direction.top
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self.current_rotation = Direction.top
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elif action_type == ActionType.ROTATE_RIGHT:
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elif action_type == ActionType.ROTATE_RIGHT:
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print("rotate {} --> {}".format(self.current_rotation, action_type))
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# print("rotate {} --> {}".format(self.current_rotation, action_type))
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self.current_rotation = Direction.right
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self.current_rotation = Direction.right
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elif action_type == ActionType.ROTATE_DOWN:
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elif action_type == ActionType.ROTATE_DOWN:
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print("rotate {} --> {}".format(self.current_rotation, action_type))
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# print("rotate {} --> {}".format(self.current_rotation, action_type))
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self.current_rotation = Direction.down
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self.current_rotation = Direction.down
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elif action_type == ActionType.ROTATE_LEFT:
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elif action_type == ActionType.ROTATE_LEFT:
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print("rotate {} --> {}".format(self.current_rotation, action_type))
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# print("rotate {} --> {}".format(self.current_rotation, action_type))
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self.current_rotation = Direction.left
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self.current_rotation = Direction.left
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elif action_type == ActionType.MOVE:
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elif action_type == ActionType.MOVE:
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if self.current_rotation == Direction.top:
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if self.current_rotation == Direction.top:
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print("move {} --> {}".format(self.current_position, action_type))
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# print("move {} --> {}".format(self.current_position, action_type))
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self.current_position = (self.current_position[0], self.current_position[1] + 1)
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self.current_position = (self.current_position[0], self.current_position[1] + 1)
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elif self.current_rotation == Direction.down:
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elif self.current_rotation == Direction.down:
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print("move {} --> {}".format(self.current_position, action_type))
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# print("move {} --> {}".format(self.current_position, action_type))
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self.current_position = (self.current_position[0], self.current_position[1] - 1)
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self.current_position = (self.current_position[0], self.current_position[1] - 1)
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elif self.current_rotation == Direction.right:
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elif self.current_rotation == Direction.right:
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print("move {} --> {}".format(self.current_position, action_type))
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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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self.current_position = (self.current_position[0] + 1, self.current_position[1])
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elif self.current_rotation == Direction.left:
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elif self.current_rotation == Direction.left:
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print("move {} --> {}".format(self.current_position, action_type))
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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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self.current_position = (self.current_position[0] - 1, self.current_position[1])
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def plan_actions(self):
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def step(self) -> None:
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if len(self.current_order.items) > 0:
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if len(self.action_queue) > 0:
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i = self.current_order.items.pop(0)
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self.move()
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if self.current_item is None:
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elif self.ready_for_execution:
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self.provided_items.clear()
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if self.current_position != self.goal:
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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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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.game_constants,
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self.drop_off.location,
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self.goal,
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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.SHELF:
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packing_station = stations[PatchType.packingA]
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elif i.real_type == ItemType.REFRIGERATOR:
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packing_station = stations[PatchType.packingB]
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elif i.real_type == ItemType.DOOR:
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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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PathFinderState(self.current_position,
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self.current_rotation,
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self.current_rotation,
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0,
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0,
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Action(
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Action(
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desired_item=i,
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desired_item=None,
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action_type=ActionType.PICK_ITEM
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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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[])
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)
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)
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actions = pathFinder.get_action_list()
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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(actions)
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self.item_station_completed = True
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else:
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else:
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# go to client delivery area
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if self.current_order is not None and self.goal == self.base:
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pathFinder = PathFinderOnStates(
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self.current_item = self.current_order.items.pop(0)
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self.game_constants,
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packing_station: GridLocation = None
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self.client_delivery.location,
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stations = dict(self.graph.packingStations)
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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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if self.current_item.real_type == ItemType.SHELF:
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self.provided_items.append(self.current_item)
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packing_station = stations[PatchType.packingShelf]
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self.item_station_completed = False
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elif self.current_item.real_type == ItemType.REFRIGERATOR:
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packing_station = stations[PatchType.packingRefrigerator]
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elif self.current_item.real_type == ItemType.DOOR:
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packing_station = stations[PatchType.packingDoor]
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def step(self) -> None:
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self.goal = packing_station
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if len(self.action_queue) > 0:
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self.move()
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elif self.ready_for_execution and 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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elif self.goal in [i[1] for i in self.graph.packingStations]:
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self.current_order = self.orderList.pop(0)
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self.goal = self.client_delivery.location
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self.plan_actions()
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elif self.goal == self.client_delivery.location:
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if self.current_order is not None and len(self.current_order.items) == 0:
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self.current_order_delivered_items.append(self.current_item)
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self.current_order.items = deepcopy(self.current_order_delivered_items)
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self.fulfilled_orders.append(self.current_order)
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self.current_item = None
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self.current_order = None
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self.goal = self.base
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else:
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self.current_order_delivered_items.append(self.current_item)
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self.goal = self.base
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self.current_item = None
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elif self.goal == self.base and self.current_order is None:
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self.current_order_delivered_items.clear()
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self.current_order = self.orderList.pop(0)
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def creation_log(self):
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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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print("Created Forklift Agent [id: {}]".format(self.unique_id))
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91
GameModel.py
91
GameModel.py
@ -9,6 +9,7 @@ from mesa.time import RandomActivation
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from AgentBase import AgentBase
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from AgentBase import AgentBase
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from ForkliftAgent import ForkliftAgent
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from ForkliftAgent import ForkliftAgent
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from InitialStateFactory import InitialStateFactory
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from InitialStateFactory import InitialStateFactory
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from ItemDisplayAgent import ItemDisplayAgent
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from PatchAgent import PatchAgent
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from PatchAgent import PatchAgent
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from PatchType import PatchType
|
from PatchType import PatchType
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from PictureVisualizationAgent import PictureVisualizationAgent
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from PictureVisualizationAgent import PictureVisualizationAgent
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@ -36,7 +37,9 @@ class Phase(Enum):
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class GameModel(Model):
|
class GameModel(Model):
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|
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def __init__(self, width, height, graph: GridWithWeights, items: int, orders: int, classificator):
|
def __init__(self, width, height, graph: GridWithWeights, items: int, orders: int, classificator,
|
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item_display_pos: List[GridLocation]):
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|
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# self.num_agents = 5
|
# self.num_agents = 5
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self.first = True
|
self.first = True
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self.item_recognised = False
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self.item_recognised = False
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@ -44,10 +47,12 @@ class GameModel(Model):
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self.grid = MultiGrid(height, width, True)
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self.grid = MultiGrid(height, width, True)
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self.schedule = RandomActivation(self)
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self.schedule = RandomActivation(self)
|
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self.current_item_recognition = None
|
self.current_item_recognition = None
|
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|
self.current_item = None
|
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|
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self.client_delivery: PatchAgent = None
|
self.client_delivery: PatchAgent = None
|
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self.drop_off: PatchAgent = None
|
self.drop_off: PatchAgent = None
|
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self.graph = graph
|
self.graph = graph
|
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|
self.cut_orders : List[Order] = []
|
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|
|
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self.game_constants = GameConstants(
|
self.game_constants = GameConstants(
|
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width,
|
width,
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@ -68,15 +73,16 @@ class GameModel(Model):
|
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|
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self.schedule.add(self.forklift_agent)
|
self.schedule.add(self.forklift_agent)
|
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self.agents.append(self.forklift_agent)
|
self.agents.append(self.forklift_agent)
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|
self.item_display_agents: List[ItemDisplayAgent] = []
|
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|
|
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# INITIALIZATION #
|
# INITIALIZATION #
|
||||||
print("############## INITIALIZATION ##############")
|
print("############## INITIALIZATION ##############")
|
||||||
self.phase = Phase.INIT
|
self.phase = Phase.INIT
|
||||||
self.initialize_grid(graph)
|
self.initialize_grid(graph, item_display_pos)
|
||||||
self.orderList: List[Order] = InitialStateFactory.generate_order_list(orders)
|
self.orderList: List[Order] = InitialStateFactory.generate_order_list(orders)
|
||||||
self.fulfilled_orders: List[Order] = []
|
self.fulfilled_orders: List[Order] = []
|
||||||
self.forklift_agent.orderList = self.orderList
|
|
||||||
self.forklift_agent.fulfilled_orders = self.fulfilled_orders
|
self.forklift_agent.fulfilled_orders = self.fulfilled_orders
|
||||||
|
self.forklift_agent.set_base(self.drop_off)
|
||||||
self.classificator = classificator
|
self.classificator = classificator
|
||||||
|
|
||||||
print("############## RECOGNISE ITEMS ##############")
|
print("############## RECOGNISE ITEMS ##############")
|
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@ -85,6 +91,8 @@ class GameModel(Model):
|
|||||||
self.items_for_recognization = copy.deepcopy(self.provided_items)
|
self.items_for_recognization = copy.deepcopy(self.provided_items)
|
||||||
self.recognised_items: List[Item] = []
|
self.recognised_items: List[Item] = []
|
||||||
|
|
||||||
|
self.current_order_delivered_items = self.forklift_agent.current_order_delivered_items
|
||||||
|
|
||||||
print("Relocate forklift agent to loading area for item recognition")
|
print("Relocate forklift agent to loading area for item recognition")
|
||||||
|
|
||||||
pathFinder = PathFinderOnStates(
|
pathFinder = PathFinderOnStates(
|
||||||
@ -98,8 +106,9 @@ class GameModel(Model):
|
|||||||
print("PATHFINDING")
|
print("PATHFINDING")
|
||||||
print(actions)
|
print(actions)
|
||||||
self.forklift_agent.queue_movement_actions(actions)
|
self.forklift_agent.queue_movement_actions(actions)
|
||||||
|
self.current_order = self.forklift_agent.current_order
|
||||||
|
|
||||||
def initialize_grid(self, graph: GridWithWeights):
|
def initialize_grid(self, graph: GridWithWeights, item_display_pos):
|
||||||
print("INITIALIZING GRID")
|
print("INITIALIZING GRID")
|
||||||
# Add the agent to a random grid cell
|
# Add the agent to a random grid cell
|
||||||
x = 5
|
x = 5
|
||||||
@ -120,6 +129,7 @@ class GameModel(Model):
|
|||||||
self.place_walls_agents(graph.walls)
|
self.place_walls_agents(graph.walls)
|
||||||
self.place_puddles(graph.puddles)
|
self.place_puddles(graph.puddles)
|
||||||
self.place_packing_stations(graph.packingStations)
|
self.place_packing_stations(graph.packingStations)
|
||||||
|
self.place_order_items_display(item_display_pos)
|
||||||
|
|
||||||
def place_dividers(self):
|
def place_dividers(self):
|
||||||
for i in range(0, 10):
|
for i in range(0, 10):
|
||||||
@ -160,10 +170,24 @@ class GameModel(Model):
|
|||||||
self.agents.append(agent)
|
self.agents.append(agent)
|
||||||
self.grid.place_agent(agent, p[1])
|
self.grid.place_agent(agent, p[1])
|
||||||
|
|
||||||
|
def place_order_items_display(self, item_positions: List[GridLocation]):
|
||||||
|
for p in item_positions:
|
||||||
|
agent = ItemDisplayAgent(self, p)
|
||||||
|
self.item_display_agents.append(agent)
|
||||||
|
self.grid.place_agent(agent, p)
|
||||||
|
|
||||||
|
def update_item_display(self):
|
||||||
|
self.current_item = self.forklift_agent.current_item
|
||||||
|
for i in range(4):
|
||||||
|
self.item_display_agents[i].image = None
|
||||||
|
if len(self.forklift_agent.current_order_delivered_items) > i:
|
||||||
|
self.item_display_agents[i].image = self.forklift_agent.current_order_delivered_items[i].image
|
||||||
|
|
||||||
def step(self):
|
def step(self):
|
||||||
self.schedule.step()
|
self.schedule.step()
|
||||||
self.grid.remove_agent(self.forklift_agent)
|
self.grid.remove_agent(self.forklift_agent)
|
||||||
self.grid.place_agent(self.forklift_agent, self.forklift_agent.current_position)
|
self.grid.place_agent(self.forklift_agent, self.forklift_agent.current_position)
|
||||||
|
self.update_item_display()
|
||||||
|
|
||||||
if self.phase == Phase.ITEM_RECOGNITION:
|
if self.phase == Phase.ITEM_RECOGNITION:
|
||||||
if not self.item_recognised and self.forklift_agent.current_position == self.drop_off.location:
|
if not self.item_recognised and self.forklift_agent.current_position == self.drop_off.location:
|
||||||
@ -200,15 +224,70 @@ class GameModel(Model):
|
|||||||
# print("ORDER {}, PRIO: {}".format(new_orders[i].id, new_orders[i].priority))
|
# print("ORDER {}, PRIO: {}".format(new_orders[i].id, new_orders[i].priority))
|
||||||
|
|
||||||
self.orderList = new_orders
|
self.orderList = new_orders
|
||||||
|
self.count_recognised_items()
|
||||||
|
|
||||||
|
self.sort_orders()
|
||||||
|
|
||||||
|
self.forklift_agent.orderList = self.orderList
|
||||||
|
|
||||||
print("FINISHED CLIENT ORDER SORTING")
|
print("FINISHED CLIENT ORDER SORTING")
|
||||||
self.phase = Phase.EXECUTION
|
self.phase = Phase.EXECUTION
|
||||||
|
|
||||||
if self.phase == Phase.EXECUTION:
|
if self.phase == Phase.EXECUTION:
|
||||||
print("Execution")
|
self.current_order = self.forklift_agent.current_order
|
||||||
|
pass
|
||||||
|
# print("Execution")
|
||||||
|
|
||||||
|
def sort_orders(self):
|
||||||
|
orders_to_fill: [Order] = []
|
||||||
|
cut_orders: [Order] = []
|
||||||
|
|
||||||
|
for i in range(len(self.orderList)):
|
||||||
|
o: Order = self.orderList[i]
|
||||||
|
refrige = self.count_item_type(o, ItemType.REFRIGERATOR)
|
||||||
|
shelf = self.count_item_type(o, ItemType.SHELF)
|
||||||
|
door = self.count_item_type(o, ItemType.DOOR)
|
||||||
|
|
||||||
|
if self.count_shelf - shelf >= 0 and self.count_refrige - refrige >= 0 and self.count_door - door >= 0:
|
||||||
|
self.count_shelf -= shelf
|
||||||
|
self.count_door -= door
|
||||||
|
self.count_refrige -= refrige
|
||||||
|
orders_to_fill.append(o)
|
||||||
|
else:
|
||||||
|
cut_orders.append(o)
|
||||||
|
|
||||||
|
self.cut_orders = cut_orders
|
||||||
|
self.orderList = orders_to_fill
|
||||||
|
self.forklift_agent.orderList = orders_to_fill
|
||||||
|
|
||||||
|
def count_item_type(self, o: Order, itemType: ItemType) -> int:
|
||||||
|
res = 0
|
||||||
|
for i in range(len(o.items)):
|
||||||
|
it: Item = o.items[i]
|
||||||
|
if it.guessed_type == itemType:
|
||||||
|
res += 1
|
||||||
|
|
||||||
|
return res
|
||||||
|
|
||||||
|
def count_recognised_items(self):
|
||||||
|
count_refrige: int = 0
|
||||||
|
count_door: int = 0
|
||||||
|
count_shelf: int = 0
|
||||||
|
|
||||||
|
for i in range(len(self.recognised_items)):
|
||||||
|
item: Item = self.recognised_items[i]
|
||||||
|
if item.guessed_type == ItemType.DOOR:
|
||||||
|
count_door += 1
|
||||||
|
elif item.guessed_type == ItemType.SHELF:
|
||||||
|
count_shelf += 1
|
||||||
|
else:
|
||||||
|
count_refrige += 1
|
||||||
|
|
||||||
|
self.count_door = count_door
|
||||||
|
self.count_shelf = count_shelf
|
||||||
|
self.count_refrige = count_refrige
|
||||||
|
|
||||||
def recognise_item(self, item: Item):
|
def recognise_item(self, item: Item):
|
||||||
# TODO IMAGE PROCESSING
|
|
||||||
val = image_classification(self.picture_visualization.img, self.classificator)
|
val = image_classification(self.picture_visualization.img, self.classificator)
|
||||||
print("VAL: {}".format(val))
|
print("VAL: {}".format(val))
|
||||||
|
|
||||||
|
@ -5,13 +5,14 @@ from data.Order import Order
|
|||||||
from data.enum.ItemType import ItemType
|
from data.enum.ItemType import ItemType
|
||||||
from data.enum.Priority import Priority
|
from data.enum.Priority import Priority
|
||||||
from util.ClientParamsFactory import ClientParamsFactory
|
from util.ClientParamsFactory import ClientParamsFactory
|
||||||
|
from util.PathByEnum import PathByEnum
|
||||||
|
|
||||||
|
|
||||||
class InitialStateFactory:
|
class InitialStateFactory:
|
||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
def generate_item_list(output_list_size: int):
|
def generate_item_list(output_list_size: int):
|
||||||
item_list : [Item] = []
|
item_list: [Item] = []
|
||||||
for i in range(output_list_size):
|
for i in range(output_list_size):
|
||||||
item_list.append(InitialStateFactory.__generate_item())
|
item_list.append(InitialStateFactory.__generate_item())
|
||||||
|
|
||||||
@ -74,7 +75,7 @@ class InitialStateFactory:
|
|||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
def generate_input_sequence(self, input_sequence_size):
|
def generate_input_sequence(self, input_sequence_size):
|
||||||
sequence : [Item] = []
|
sequence: [Item] = []
|
||||||
for i in range(0, input_sequence_size):
|
for i in range(0, input_sequence_size):
|
||||||
sequence.append(self.__generate_item())
|
sequence.append(self.__generate_item())
|
||||||
|
|
||||||
@ -83,4 +84,6 @@ class InitialStateFactory:
|
|||||||
@staticmethod
|
@staticmethod
|
||||||
def __generate_item() -> Item:
|
def __generate_item() -> Item:
|
||||||
randomly_picked_type = random.choice(list(ItemType))
|
randomly_picked_type = random.choice(list(ItemType))
|
||||||
return Item(randomly_picked_type)
|
item = Item(randomly_picked_type, PathByEnum.get_random_path(randomly_picked_type))
|
||||||
|
item.guessed_type = item.real_type
|
||||||
|
return item
|
||||||
|
10
ItemDisplayAgent.py
Normal file
10
ItemDisplayAgent.py
Normal file
@ -0,0 +1,10 @@
|
|||||||
|
from PatchAgent import PatchAgent
|
||||||
|
from PatchType import PatchType
|
||||||
|
from util.PathDefinitions import GridLocation
|
||||||
|
|
||||||
|
|
||||||
|
class ItemDisplayAgent(PatchAgent):
|
||||||
|
|
||||||
|
def __init__(self, model, location: GridLocation):
|
||||||
|
self.image = None
|
||||||
|
super().__init__(model, location, patch_type=PatchType.itemDisplay)
|
@ -7,7 +7,8 @@ class PatchType(enum.Enum):
|
|||||||
item = 3
|
item = 3
|
||||||
wall = 4
|
wall = 4
|
||||||
diffTerrain = 5
|
diffTerrain = 5
|
||||||
packingA = 6
|
packingShelf = 6
|
||||||
packingB = 7
|
packingRefrigerator = 7
|
||||||
packingC = 8
|
packingDoor = 8
|
||||||
divider = 9
|
divider = 9
|
||||||
|
itemDisplay = 10
|
||||||
|
@ -6,9 +6,10 @@ from data.enum.ItemType import ItemType
|
|||||||
class Item:
|
class Item:
|
||||||
id_counter = count(start=0)
|
id_counter = count(start=0)
|
||||||
|
|
||||||
def __init__(self, item_type: ItemType):
|
def __init__(self, item_type: ItemType, image):
|
||||||
self.id = next(self.id_counter)
|
self.id = next(self.id_counter)
|
||||||
self.real_type = item_type
|
self.real_type = item_type
|
||||||
|
self.image = image
|
||||||
self.guessed_type = None
|
self.guessed_type = None
|
||||||
|
|
||||||
def __repr__(self) -> str:
|
def __repr__(self) -> str:
|
||||||
|
BIN
img/door_d.jpg
Normal file
BIN
img/door_d.jpg
Normal file
Binary file not shown.
After Width: | Height: | Size: 30 KiB |
BIN
img/fridge_f.jpg
Normal file
BIN
img/fridge_f.jpg
Normal file
Binary file not shown.
After Width: | Height: | Size: 23 KiB |
BIN
img/shelf_s.jpg
Normal file
BIN
img/shelf_s.jpg
Normal file
Binary file not shown.
After Width: | Height: | Size: 35 KiB |
113
main.py
113
main.py
@ -1,24 +1,20 @@
|
|||||||
import math
|
|
||||||
import random
|
import random
|
||||||
|
|
||||||
from mesa.visualization.ModularVisualization import ModularServer
|
from mesa.visualization.ModularVisualization import ModularServer
|
||||||
from mesa.visualization.modules import CanvasGrid
|
from mesa.visualization.modules import CanvasGrid
|
||||||
|
from tensorflow import keras
|
||||||
|
|
||||||
from ForkliftAgent import ForkliftAgent
|
from ForkliftAgent import ForkliftAgent
|
||||||
from GameModel import GameModel
|
from GameModel import GameModel
|
||||||
from InitialStateFactory import InitialStateFactory
|
from ItemDisplayAgent import ItemDisplayAgent
|
||||||
from PatchAgent import PatchAgent
|
from PatchAgent import PatchAgent
|
||||||
from PatchType import PatchType
|
from PatchType import PatchType
|
||||||
from PictureVisualizationAgent import PictureVisualizationAgent
|
from PictureVisualizationAgent import PictureVisualizationAgent
|
||||||
from data.Order import Order
|
|
||||||
from data.enum.Direction import Direction
|
from data.enum.Direction import Direction
|
||||||
from tensorflow import keras
|
|
||||||
|
|
||||||
from data.enum.Priority import Priority
|
|
||||||
from genetic_order.GeneticOrder import GeneticOrder
|
|
||||||
from util.PathDefinitions import GridWithWeights
|
from util.PathDefinitions import GridWithWeights
|
||||||
from visualization.DisplayAttributeElement import DisplayAttributeElement
|
from visualization.DisplayAttributeElement import DisplayAttributeElement
|
||||||
from visualization.DisplayItemListAttribute import DisplayItemListAttributeElement
|
from visualization.DisplayItemListAttribute import DisplayItemListAttributeElement
|
||||||
|
from visualization.DisplayOrder import DisplayOrder
|
||||||
from visualization.DisplayOrderList import DisplayOrderList
|
from visualization.DisplayOrderList import DisplayOrderList
|
||||||
|
|
||||||
colors = [
|
colors = [
|
||||||
@ -39,7 +35,7 @@ def agent_portrayal(agent):
|
|||||||
elif agent.current_rotation == Direction.left:
|
elif agent.current_rotation == Direction.left:
|
||||||
shape = "img/image_left.png"
|
shape = "img/image_left.png"
|
||||||
|
|
||||||
portrayal = {"Shape": shape, "scale": 1.0, "Layer": 0}
|
portrayal = {"Shape": shape, "scale": 1.0, "Layer": 2}
|
||||||
|
|
||||||
if isinstance(agent, PatchAgent):
|
if isinstance(agent, PatchAgent):
|
||||||
color = colors[0]
|
color = colors[0]
|
||||||
@ -51,6 +47,13 @@ def agent_portrayal(agent):
|
|||||||
portrayal = {"Shape": "img/okB00mer.png", "scale": 1.0, "Layer": 0}
|
portrayal = {"Shape": "img/okB00mer.png", "scale": 1.0, "Layer": 0}
|
||||||
elif agent.patch_type == PatchType.diffTerrain:
|
elif agent.patch_type == PatchType.diffTerrain:
|
||||||
portrayal = {"Shape": "img/puddle.png", "scale": 1.0, "Layer": 0}
|
portrayal = {"Shape": "img/puddle.png", "scale": 1.0, "Layer": 0}
|
||||||
|
elif agent.patch_type == PatchType.packingShelf:
|
||||||
|
portrayal = {"Shape": "img/shelf_s.jpg", "scale": 1.0, "Layer": 1}
|
||||||
|
elif agent.patch_type == PatchType.packingRefrigerator:
|
||||||
|
portrayal = {"Shape": "img/fridge_f.jpg", "scale": 1.0, "Layer": 1}
|
||||||
|
elif agent.patch_type == PatchType.packingDoor:
|
||||||
|
portrayal = {"Shape": "img/door_d.jpg", "scale": 1.0, "Layer": 1}
|
||||||
|
|
||||||
elif agent.patch_type == PatchType.divider:
|
elif agent.patch_type == PatchType.divider:
|
||||||
portrayal = \
|
portrayal = \
|
||||||
{"Shape": "rect",
|
{"Shape": "rect",
|
||||||
@ -71,6 +74,18 @@ def agent_portrayal(agent):
|
|||||||
if isinstance(agent, PictureVisualizationAgent):
|
if isinstance(agent, PictureVisualizationAgent):
|
||||||
portrayal = {"Shape": f"{agent.img}", "scale": 3.0, "Layer": 0}
|
portrayal = {"Shape": f"{agent.img}", "scale": 3.0, "Layer": 0}
|
||||||
|
|
||||||
|
if isinstance(agent, ItemDisplayAgent):
|
||||||
|
if agent is not None and agent.image is not None:
|
||||||
|
portrayal = {"Shape": f"{agent.image}", "scale": 1.0, "Layer": 0}
|
||||||
|
else:
|
||||||
|
portrayal = \
|
||||||
|
{"Shape": "rect",
|
||||||
|
"Filled": "true",
|
||||||
|
"Layer": 0,
|
||||||
|
"Color": "black",
|
||||||
|
"w": 1,
|
||||||
|
"h": 1}
|
||||||
|
|
||||||
return portrayal
|
return portrayal
|
||||||
|
|
||||||
|
|
||||||
@ -81,88 +96,32 @@ if __name__ == '__main__':
|
|||||||
scale = base / gridWidth
|
scale = base / gridWidth
|
||||||
|
|
||||||
diagram = GridWithWeights(gridWidth, gridHeight)
|
diagram = GridWithWeights(gridWidth, gridHeight)
|
||||||
diagram.walls = [(6, 5), (6, 6), (6, 7), (6, 8), (2, 3), (2, 4), (3, 4), (4, 4), (6, 4)]
|
diagram.walls = [(6, 5), (6, 6), (6, 7), (6, 8), (2, 3), (2, 4), (2, 6), (4, 7), (3, 4), (4, 4), (6, 4)]
|
||||||
diagram.puddles = [(2, 2), (2, 5), (2, 6), (5, 4)]
|
diagram.puddles = [(2, 2), (2, 5), (5, 4), (4, 8), (4, 6), (4, 2)]
|
||||||
diagram.packingStations = [(PatchType.packingA, (4, 8)), (PatchType.packingB, (4, 6)), (PatchType.packingC, (4, 2))]
|
diagram.packingStations = [(PatchType.packingShelf, (4, 8)), (PatchType.packingRefrigerator, (4, 6)),
|
||||||
|
(PatchType.packingDoor, (4, 2))]
|
||||||
|
|
||||||
grid = CanvasGrid(agent_portrayal, gridWidth, gridHeight, scale * gridWidth, scale * gridHeight)
|
grid = CanvasGrid(agent_portrayal, gridWidth, gridHeight, scale * gridWidth, scale * gridHeight)
|
||||||
|
|
||||||
|
display_items = [(6, 11), (7, 11), (8, 11), (9, 11)]
|
||||||
|
|
||||||
readyText = DisplayAttributeElement("phase")
|
readyText = DisplayAttributeElement("phase")
|
||||||
# current_item = DisplayPictureElement("current_item_recognition")
|
|
||||||
provided_itesm = DisplayItemListAttributeElement("provided_items")
|
provided_itesm = DisplayItemListAttributeElement("provided_items")
|
||||||
recognised_items = DisplayItemListAttributeElement("recognised_items")
|
recognised_items = DisplayItemListAttributeElement("recognised_items")
|
||||||
|
current_order = DisplayOrder("current_order")
|
||||||
|
current_item = DisplayAttributeElement("current_item")
|
||||||
ordersText = DisplayOrderList("orderList")
|
ordersText = DisplayOrderList("orderList")
|
||||||
fulfilled_orders = DisplayOrderList("fulfilled_orders")
|
fulfilled_orders = DisplayOrderList("fulfilled_orders")
|
||||||
|
cut_orders = DisplayOrderList("cut_orders") # MTR!
|
||||||
|
|
||||||
model = keras.models.load_model("imageClasification/my_model")
|
model = keras.models.load_model("imageClasification/my_model")
|
||||||
|
|
||||||
server = ModularServer(GameModel,
|
server = ModularServer(GameModel,
|
||||||
[grid, readyText, provided_itesm, recognised_items, ordersText,
|
[grid, readyText, current_item, current_order, fulfilled_orders, ordersText, provided_itesm,
|
||||||
fulfilled_orders],
|
recognised_items, cut_orders],
|
||||||
"Automatyczny Wózek Widłowy",
|
"Automatyczny Wózek Widłowy",
|
||||||
dict(width=gridHeight, height=gridWidth, graph=diagram, items=50, orders=20, classificator=model))
|
dict(width=gridHeight, height=gridWidth, graph=diagram, items=60, orders=20,
|
||||||
|
classificator=model, item_display_pos=display_items))
|
||||||
# def order_rule(order: Order):
|
|
||||||
# return order.id
|
|
||||||
#
|
|
||||||
#
|
|
||||||
# punish_low = 500
|
|
||||||
# punish_med = 300
|
|
||||||
# def sum_wrong(member: [Order]) -> int:
|
|
||||||
# last_high = 0
|
|
||||||
# last_med = 0
|
|
||||||
#
|
|
||||||
# sum_high = 0
|
|
||||||
# sum_med = 0
|
|
||||||
# sum_low = 0
|
|
||||||
#
|
|
||||||
# counter = 0
|
|
||||||
#
|
|
||||||
# for i in range(len(member)):
|
|
||||||
# o: Order = member[i]
|
|
||||||
# if o.priority == Priority.HIGH :
|
|
||||||
# sum_high += 1
|
|
||||||
# last_high = i
|
|
||||||
# elif o.priority == Priority.MEDIUM:
|
|
||||||
# sum_med += 1
|
|
||||||
# last_med = i
|
|
||||||
# else:
|
|
||||||
# sum_low += 1
|
|
||||||
#
|
|
||||||
# for i in range(last_high):
|
|
||||||
# o: Order = member[i]
|
|
||||||
# if o.priority == Priority.MEDIUM:
|
|
||||||
# counter += punish_med
|
|
||||||
# elif o.priority == Priority.LOW:
|
|
||||||
# counter += punish_low
|
|
||||||
#
|
|
||||||
# for i in range(last_med):
|
|
||||||
# o: Order = member[i]
|
|
||||||
# if o.priority == Priority.LOW:
|
|
||||||
# counter += punish_low
|
|
||||||
#
|
|
||||||
# print("sum: high:", sum_high, "med:", sum_med, "low:", sum_low)
|
|
||||||
# print("last_high:", last_high, "last_med:", last_med, "sum:", counter)
|
|
||||||
# return counter
|
|
||||||
#
|
|
||||||
# orders = InitialStateFactory.generate_order_list_XD(20)
|
|
||||||
# test: GeneticOrder = GeneticOrder(orders)
|
|
||||||
# punish_low = test.punish_low
|
|
||||||
# punish_med = test.punish_med
|
|
||||||
#
|
|
||||||
# print("SIEMA before: ")
|
|
||||||
# sum_wrong(orders)
|
|
||||||
# for i in orders:
|
|
||||||
# print("id:", i.id, "priority:", i.priority, "sum/time:", i.sum/i.time)
|
|
||||||
# # print("id:", i.id, "priority:", i.priority)
|
|
||||||
#
|
|
||||||
# newOrders = test.get_orders_sorted(orders)
|
|
||||||
#
|
|
||||||
# print("NAURA after:")
|
|
||||||
# sum_wrong(newOrders)
|
|
||||||
# for i in newOrders:
|
|
||||||
# print("id:", i.id, "priority:", i.priority, "sum/time:", i.sum/i.time)
|
|
||||||
# # print("id:", i.id, "priority:", i.priority)
|
|
||||||
|
|
||||||
server.port = 8888
|
server.port = 8888
|
||||||
server.launch()
|
server.launch()
|
||||||
|
@ -57,7 +57,7 @@ class PathFinderOnStates:
|
|||||||
|
|
||||||
if action == action.action_type.MOVE:
|
if action == action.action_type.MOVE:
|
||||||
if curr_state.agent_position in self.game_constants.diffTerrain:
|
if curr_state.agent_position in self.game_constants.diffTerrain:
|
||||||
cost = curr_state.cost + 20
|
cost = curr_state.cost + 45
|
||||||
# tutaj koszt kaluzy
|
# tutaj koszt kaluzy
|
||||||
else:
|
else:
|
||||||
cost = curr_state.cost + 1
|
cost = curr_state.cost + 1
|
||||||
|
46
visualization/DisplayOrder.py
Normal file
46
visualization/DisplayOrder.py
Normal file
@ -0,0 +1,46 @@
|
|||||||
|
from collections import Counter
|
||||||
|
from typing import List
|
||||||
|
|
||||||
|
from mesa.visualization.modules import TextElement
|
||||||
|
|
||||||
|
from data.Order import Order
|
||||||
|
|
||||||
|
|
||||||
|
class DisplayOrder(TextElement):
|
||||||
|
def __init__(self, attr_name):
|
||||||
|
'''
|
||||||
|
Create a new text attribute element.
|
||||||
|
|
||||||
|
Args:
|
||||||
|
attr_name: The name of the attribute to extract from the model.
|
||||||
|
|
||||||
|
Example return: "happy: 10"
|
||||||
|
'''
|
||||||
|
self.attr_name = attr_name
|
||||||
|
|
||||||
|
def render(self, model):
|
||||||
|
val = getattr(model, self.attr_name)
|
||||||
|
res = self.attr_name
|
||||||
|
if val is not None:
|
||||||
|
o = val
|
||||||
|
itemList = map(lambda x: x.real_type, o.items)
|
||||||
|
itemCounter = Counter(itemList)
|
||||||
|
|
||||||
|
item_str = "<ul>"
|
||||||
|
for e in itemCounter:
|
||||||
|
key = e
|
||||||
|
val = itemCounter[key]
|
||||||
|
|
||||||
|
# key_str = ""
|
||||||
|
# if key == ItemType.DOOR:
|
||||||
|
# key_str = "Door"
|
||||||
|
# elif key == ItemType.SHELF:
|
||||||
|
# key_str = "Shelf"
|
||||||
|
|
||||||
|
item_str += f"<li>{str(key)}:{str(val)}</li>"
|
||||||
|
|
||||||
|
item_str += "</ul>"
|
||||||
|
|
||||||
|
res += f"<li> items: {item_str} priority: {o.priority} <br> Client: {vars(o.client_params)} </li>"
|
||||||
|
|
||||||
|
return res
|
@ -4,7 +4,6 @@ from typing import List
|
|||||||
from mesa.visualization.modules import TextElement
|
from mesa.visualization.modules import TextElement
|
||||||
|
|
||||||
from data.Order import Order
|
from data.Order import Order
|
||||||
from data.enum.ItemType import ItemType
|
|
||||||
|
|
||||||
|
|
||||||
class DisplayOrderList(TextElement):
|
class DisplayOrderList(TextElement):
|
||||||
@ -21,35 +20,36 @@ class DisplayOrderList(TextElement):
|
|||||||
|
|
||||||
def render(self, model):
|
def render(self, model):
|
||||||
val = getattr(model, self.attr_name)
|
val = getattr(model, self.attr_name)
|
||||||
|
res = ""
|
||||||
|
if val is not None:
|
||||||
|
orderList: List[Order] = val
|
||||||
|
|
||||||
orderList: List[Order] = val
|
res = self.attr_name + ": <ol>"
|
||||||
|
|
||||||
res = self.attr_name + ": <ol>"
|
for o in orderList:
|
||||||
|
if o is None:
|
||||||
|
continue
|
||||||
|
|
||||||
for o in orderList:
|
itemList = map(lambda x: x.real_type, o.items)
|
||||||
if o is None:
|
itemCounter = Counter(itemList)
|
||||||
continue
|
|
||||||
|
|
||||||
itemList = map(lambda x: x.real_type, o.items)
|
item_str = "<ul>"
|
||||||
itemCounter = Counter(itemList)
|
for e in itemCounter:
|
||||||
|
key = e
|
||||||
|
val = itemCounter[key]
|
||||||
|
|
||||||
item_str = "<ul>"
|
# key_str = ""
|
||||||
for e in itemCounter:
|
# if key == ItemType.DOOR:
|
||||||
key = e
|
# key_str = "Door"
|
||||||
val = itemCounter[key]
|
# elif key == ItemType.SHELF:
|
||||||
|
# key_str = "Shelf"
|
||||||
|
|
||||||
# key_str = ""
|
item_str += f"<li>{str(key)}:{str(val)}</li>"
|
||||||
# if key == ItemType.DOOR:
|
|
||||||
# key_str = "Door"
|
|
||||||
# elif key == ItemType.SHELF:
|
|
||||||
# key_str = "Shelf"
|
|
||||||
|
|
||||||
item_str += f"<li>{str(key)}:{str(val)}</li>"
|
item_str += "</ul>"
|
||||||
|
|
||||||
item_str += "</ul>"
|
res += f"<li> items: {item_str} priority: {o.priority} <br> Client: {vars(o.client_params)} </li>"
|
||||||
|
|
||||||
res += f"<li> items: {item_str} priority: {o.priority} <br> Client: {vars(o.client_params)} </li>"
|
res += "</ol>"
|
||||||
|
|
||||||
res += "</ol>"
|
|
||||||
|
|
||||||
return res
|
return res
|
||||||
|
Loading…
Reference in New Issue
Block a user