engine_improvements #3
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.SHELF:
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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.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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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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129
GameModel.py
129
GameModel.py
@ -10,11 +10,10 @@ from ForkliftAgent import ForkliftAgent
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from InitialStateFactory import InitialStateFactory
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from PatchAgent import PatchAgent
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from PatchType import PatchType
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from PictureVisualizationAgent import PictureVisualizationAgent
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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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@ -38,14 +37,10 @@ class GameModel(Model):
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self.running = True
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self.grid = MultiGrid(height, width, True)
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self.schedule = RandomActivation(self)
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self.current_item_recognition = None
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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 +50,27 @@ 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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@ -88,22 +99,40 @@ class GameModel(Model):
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self.grid.place_agent(self.forklift_agent, (x, y))
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self.forklift_agent.current_position = (x, y)
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self.picture_visualization = PictureVisualizationAgent(
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self,
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(1, 11),
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)
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self.schedule.add(self.picture_visualization)
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self.grid.place_agent(self.picture_visualization, self.picture_visualization.location)
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self.agents.append(self.picture_visualization)
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self.place_logistics()
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self.place_dividers()
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self.place_walls_agents(graph.walls)
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self.place_puddles(graph.puddles)
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self.place_packing_stations(graph.packingStations)
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def place_dividers(self):
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for i in range(0, 10):
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for j in range(10,13):
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agent = PatchAgent(self, (i, j), PatchType.divider)
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self.agents.append(agent)
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self.grid.place_agent(agent, (i, j))
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def place_logistics(self):
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agent = PatchAgent(self, (self.grid.width - 1, int(self.grid.height / 2)), PatchType.pickUp)
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self.schedule.add(agent)
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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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@ -138,6 +167,7 @@ class GameModel(Model):
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else:
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print("BEGIN ITEM RECOGNITION, left: {}".format(len(self.provided_items)))
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item_to_recognise = self.provided_items.pop()
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self.picture_visualization.img = "item_images/door/drzwi1.jpg"
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recognised = self.recognise_item(item_to_recognise)
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self.recognised_items.append(recognised)
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@ -145,93 +175,10 @@ 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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@ -10,3 +10,4 @@ class PatchType(enum.Enum):
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packingA = 6
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packingB = 7
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packingC = 8
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divider = 9
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13
PictureVisualizationAgent.py
Normal file
13
PictureVisualizationAgent.py
Normal file
@ -0,0 +1,13 @@
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from AgentBase import AgentBase
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from util.PathDefinitions import GridLocation
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class PictureVisualizationAgent(AgentBase):
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def __init__(self, model, location: GridLocation):
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self.location = location
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self.img = ""
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super().__init__(model)
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def creation_log(self):
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print("Created Patch Agent [id: {} ,img: {}]".format(self.unique_id, self.img))
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@ -2,6 +2,6 @@ from enum import Enum
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class ItemType(Enum):
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PIZZA = 1
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PASTA = 2
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DOOR = 1
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SHELF = 2
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EGG = 3
|
BIN
item_images/door/drzwi1.jpg
Normal file
BIN
item_images/door/drzwi1.jpg
Normal file
Binary file not shown.
After Width: | Height: | Size: 32 KiB |
BIN
item_images/door/drzwi2.png
Normal file
BIN
item_images/door/drzwi2.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 126 KiB |
29
main.py
29
main.py
@ -7,9 +7,13 @@ from ForkliftAgent import ForkliftAgent
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from GameModel import GameModel
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from PatchAgent import PatchAgent
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from PatchType import PatchType
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from PictureVisualizationAgent import PictureVisualizationAgent
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from data.enum.Direction import Direction
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from util.PathDefinitions import GridWithWeights
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from visualization.DisplayAttributeElement import DisplayAttributeElement
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from visualization.DisplayItemListAttribute import DisplayItemListAttributeElement
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from visualization.DisplayOrderList import DisplayOrderList
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from visualization.DisplayPictureElement import DisplayPictureElement
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colors = [
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'blue', 'cyan', 'orange', 'yellow', 'magenta', 'purple', '#103d3e', '#9fc86c',
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@ -41,6 +45,14 @@ def agent_portrayal(agent):
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portrayal = {"Shape": "img/okB00mer.png", "scale": 1.0, "Layer": 0}
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elif agent.patch_type == PatchType.diffTerrain:
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portrayal = {"Shape": "img/puddle.png", "scale": 1.0, "Layer": 0}
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elif agent.patch_type == PatchType.divider:
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portrayal = \
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{"Shape": "rect",
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"Filled": "true",
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"Layer": 0,
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"Color": "black",
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"w": 1,
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"h": 1}
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else:
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color = colors[random.randrange(13) + 3]
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portrayal = {"Shape": "rect",
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@ -49,13 +61,17 @@ def agent_portrayal(agent):
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"Color": color,
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"w": 1,
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"h": 1}
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if isinstance(agent, PictureVisualizationAgent):
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portrayal = {"Shape": f"{agent.img}", "scale": 3.0, "Layer": 0}
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return portrayal
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if __name__ == '__main__':
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base = 512
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gridWidth = 10
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gridHeight = 10
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gridHeight = 13
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scale = base / gridWidth
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diagram = GridWithWeights(gridWidth, gridHeight)
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@ -66,12 +82,15 @@ if __name__ == '__main__':
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grid = CanvasGrid(agent_portrayal, gridWidth, gridHeight, scale * gridWidth, scale * gridHeight)
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readyText = DisplayAttributeElement("phase")
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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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# current_item = DisplayPictureElement("current_item_recognition")
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provided_itesm = DisplayItemListAttributeElement("provided_items")
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recognised_items = DisplayItemListAttributeElement("recognised_items")
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ordersText = DisplayOrderList("orderList")
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fulfilled_orders = DisplayOrderList("fulfilled_orders")
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|
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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,
|
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fulfilled_orders],
|
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"Automatyczny Wózek Widłowy",
|
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{"width": gridHeight, "height": gridWidth, "graph": diagram}, )
|
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|
48
visualization/DisplayItemListAttribute.py
Normal file
48
visualization/DisplayItemListAttribute.py
Normal file
@ -0,0 +1,48 @@
|
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from collections import Counter
|
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from typing import List
|
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|
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from mesa.visualization.modules import TextElement
|
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|
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from data.Item import Item
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from data.enum.ItemType import ItemType
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|
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|
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class DisplayItemListAttributeElement(TextElement):
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def __init__(self, attr_name):
|
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'''
|
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Create a new text attribute element.
|
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|
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Args:
|
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attr_name: The name of the attribute to extract from the model.
|
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|
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Example return: "happy: 10"
|
||||
'''
|
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self.attr_name = attr_name
|
||||
|
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def render(self, model):
|
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val = getattr(model, self.attr_name)
|
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|
||||
itemList: List[Item] = val
|
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|
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itemList = map(lambda x: x.real_type, itemList)
|
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|
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itemCounter = Counter(itemList)
|
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|
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# return self.attr_name + ":" + pprint.pformat(itemCounter)
|
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res = self.attr_name + ":" + "<ul>"
|
||||
|
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for e in itemCounter:
|
||||
key = e
|
||||
val = itemCounter[key]
|
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|
||||
key_str = ""
|
||||
if key == ItemType.DOOR:
|
||||
key_str = "Door"
|
||||
elif key == ItemType.SHELF:
|
||||
key_str = "Shelf"
|
||||
|
||||
res += "<li>{}:{}</li>".format(key_str, val)
|
||||
|
||||
res += "</ul>"
|
||||
|
||||
return res
|
55
visualization/DisplayOrderList.py
Normal file
55
visualization/DisplayOrderList.py
Normal file
@ -0,0 +1,55 @@
|
||||
from collections import Counter
|
||||
from typing import List
|
||||
|
||||
from mesa.visualization.modules import TextElement
|
||||
|
||||
from data.Order import Order
|
||||
from data.enum.ItemType import ItemType
|
||||
|
||||
|
||||
class DisplayOrderList(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)
|
||||
|
||||
orderList: List[Order] = val
|
||||
|
||||
res = self.attr_name + ": <ol>"
|
||||
|
||||
for o in orderList:
|
||||
if o is None:
|
||||
continue
|
||||
|
||||
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>{key_str}:{val}</li>"
|
||||
|
||||
item_str += "</ul>"
|
||||
|
||||
res += f"<li> items: {item_str} priority: {o.priority} <br> Client: {vars(o.client_params)} </li>"
|
||||
|
||||
res += "</ol>"
|
||||
|
||||
return res
|
21
visualization/DisplayPictureElement.py
Normal file
21
visualization/DisplayPictureElement.py
Normal file
@ -0,0 +1,21 @@
|
||||
from mesa.visualization.modules import TextElement
|
||||
|
||||
|
||||
class DisplayPictureElement(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)
|
||||
if val is not None:
|
||||
return self.attr_name + ': <img src="{}" alt="{}" style="width:148px; hei ght:148px;" >'.format(val, self.attr_name)
|
||||
else:
|
||||
return ""
|
Loading…
Reference in New Issue
Block a user