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))

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
+            self.phase = Phase.EXECUTION
-
-        if self.phase == Phase.PLAN_MOVEMENT:
-            if len(self.orderList) > 0:
-                self.plan_actions()
-                self.phase = Phase.EXECUTION
-            else:
-                print("NO MORE ORDERS")
 
         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

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}, )