ForkliftAgent.py

@@ -1,8 +1,10 @@
+from copy import deepcopy
 from typing import Tuple, List
 
 from AgentBase import AgentBase
 from PatchAgent import PatchAgent
 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
@@ -16,7 +18,7 @@ from util.PathDefinitions import GridLocation, GridWithWeights
 
 class ForkliftAgent(AgentBase):
 
-    def __init__(self, model, game_constants, client_delivery: PatchAgent, drop_off: PatchAgent,
+    def __init__(self, model, game_constants: GameConstants, client_delivery: PatchAgent, drop_off: PatchAgent,
                  graph: GridWithWeights):
         super().__init__(model)
         self.action_queue: List[Action] = []
@@ -28,11 +30,20 @@ class ForkliftAgent(AgentBase):
         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.current_order_delivered_items: List[Item] = []
         self.ready_for_execution = False
+        self.last_delviered_item = None
+
+        self.current_item: Item = None
+        self.current_order = None
+        self.base: GridLocation = None
+        self.goal: GridLocation = None
+
+    def set_base(self, drop_off: PatchAgent):
+        self.drop_off = drop_off
+        self.base = self.drop_off.location
+        self.goal = self.base
 
     def queue_movement_actions(self, movement_actions: List[Action]):
         self.action_queue.extend(movement_actions)
@@ -43,120 +54,94 @@ class ForkliftAgent(AgentBase):
             action_type = action.action_type
 
             if action_type == ActionType.ROTATE_UP:
-                print("rotate {} --> {}".format(self.current_rotation, action_type))
+                # print("rotate {} --> {}".format(self.current_rotation, action_type))
                 self.current_rotation = Direction.top
 
             elif action_type == ActionType.ROTATE_RIGHT:
-                print("rotate {} --> {}".format(self.current_rotation, action_type))
+                # print("rotate {} --> {}".format(self.current_rotation, action_type))
                 self.current_rotation = Direction.right
 
             elif action_type == ActionType.ROTATE_DOWN:
-                print("rotate {} --> {}".format(self.current_rotation, action_type))
+                # print("rotate {} --> {}".format(self.current_rotation, action_type))
                 self.current_rotation = Direction.down
 
             elif action_type == ActionType.ROTATE_LEFT:
-                print("rotate {} --> {}".format(self.current_rotation, action_type))
+                # print("rotate {} --> {}".format(self.current_rotation, action_type))
                 self.current_rotation = Direction.left
 
             elif action_type == ActionType.MOVE:
                 if self.current_rotation == Direction.top:
-                    print("move {} --> {}".format(self.current_position, action_type))
+                    # print("move {} --> {}".format(self.current_position, action_type))
                     self.current_position = (self.current_position[0], self.current_position[1] + 1)
 
                 elif self.current_rotation == Direction.down:
-                    print("move {} --> {}".format(self.current_position, action_type))
+                    # print("move {} --> {}".format(self.current_position, action_type))
                     self.current_position = (self.current_position[0], self.current_position[1] - 1)
 
                 elif self.current_rotation == Direction.right:
-                    print("move {} --> {}".format(self.current_position, action_type))
+                    # print("move {} --> {}".format(self.current_position, action_type))
                     self.current_position = (self.current_position[0] + 1, self.current_position[1])
 
                 elif self.current_rotation == Direction.left:
-                    print("move {} --> {}".format(self.current_position, action_type))
+                    # 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.current_order_delivered_items.clear()
-                self.current_item = i
-                print("PLAN MOVEMENT")
-
-                # get item
+    def step(self) -> None:
+        if len(self.action_queue) > 0:
+            self.move()
+        elif self.ready_for_execution:
+            if self.current_position != self.goal:
                 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.SHELF:
-                    packing_station = stations[PatchType.packingShelf]
-                elif i.real_type == ItemType.REFRIGERATOR:
-                    packing_station = stations[PatchType.packingRefrigerator]
-                elif i.real_type == ItemType.DOOR:
-                    packing_station = stations[PatchType.packingC]
-
-                pathFinder = PathFinderOnStates(
-                    self.game_constants,
-                    packing_station,
+                    self.goal,
                     PathFinderState(self.current_position,
                                     self.current_rotation,
                                     0,
                                     Action(
-                                        desired_item=i,
+                                        desired_item=None,
                                         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)]
-                )
+                if self.current_order is not None and self.goal == self.base:
+                    self.current_item = self.current_order.items.pop(0)
+                    packing_station: GridLocation = None
+                    stations = dict(self.graph.packingStations)
 
-                self.current_order_delivered_items.append(self.current_item)
-                self.current_item = None
-                self.item_station_completed = False
+                    if self.current_item.real_type == ItemType.SHELF:
+                        packing_station = stations[PatchType.packingShelf]
+                    elif self.current_item.real_type == ItemType.REFRIGERATOR:
+                        packing_station = stations[PatchType.packingRefrigerator]
+                    elif self.current_item.real_type == ItemType.DOOR:
+                        packing_station = stations[PatchType.packingDoor]
 
-    def step(self) -> None:
-        if len(self.action_queue) > 0:
-            self.move()
-        elif self.ready_for_execution and 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
+                    self.goal = packing_station
 
-            if self.current_order is None:
-                self.current_order = self.orderList.pop(0)
+                elif self.goal in [i[1] for i in self.graph.packingStations]:
+                    self.goal = self.client_delivery.location
 
-            self.plan_actions()
+                elif self.goal == self.client_delivery.location:
+                    if self.current_order is not None and len(self.current_order.items) == 0:
+
+                        self.current_order_delivered_items.append(self.current_item)
+                        self.current_order.items = deepcopy(self.current_order_delivered_items)
+                        self.fulfilled_orders.append(self.current_order)
+
+                        self.current_item = None
+                        self.current_order = None
+
+                        self.goal = self.base
+                    else:
+                        self.current_order_delivered_items.append(self.current_item)
+                        self.goal = self.base
+                        self.current_item = None
+
+                elif self.goal == self.base and self.current_order is None:
+                    self.current_order_delivered_items.clear()
+                    self.current_order = self.orderList.pop(0)
 
     def creation_log(self):
         print("Created Forklift Agent [id: {}]".format(self.unique_id))

GameModel.py

@@ -47,6 +47,7 @@ class GameModel(Model):
         self.grid = MultiGrid(height, width, True)
         self.schedule = RandomActivation(self)
         self.current_item_recognition = None
+        self.current_item = None
 
         self.client_delivery: PatchAgent = None
         self.drop_off: PatchAgent = None
@@ -79,8 +80,8 @@ class GameModel(Model):
         self.initialize_grid(graph, item_display_pos)
         self.orderList: List[Order] = InitialStateFactory.generate_order_list(orders)
         self.fulfilled_orders: List[Order] = []
-        self.forklift_agent.orderList = self.orderList
         self.forklift_agent.fulfilled_orders = self.fulfilled_orders
+        self.forklift_agent.set_base(self.drop_off)
         self.classificator = classificator
 
         print("############## RECOGNISE ITEMS ##############")
@@ -104,6 +105,7 @@ class GameModel(Model):
         print("PATHFINDING")
         print(actions)
         self.forklift_agent.queue_movement_actions(actions)
+        self.current_order = self.forklift_agent.current_order
 
     def initialize_grid(self, graph: GridWithWeights, item_display_pos):
         print("INITIALIZING GRID")
@@ -174,9 +176,11 @@ class GameModel(Model):
             self.grid.place_agent(agent, p)
 
     def update_item_display(self):
-        for index, item in enumerate(self.forklift_agent.current_order_delivered_items):
-            if item is not None:
-                self.item_display_agents[index].image = item.image
+        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):
         self.schedule.step()
@@ -219,12 +223,15 @@ class GameModel(Model):
             #     print("ORDER {}, PRIO: {}".format(new_orders[i].id, new_orders[i].priority))
 
             self.orderList = new_orders
+            self.forklift_agent.orderList = self.orderList
 
             print("FINISHED CLIENT ORDER SORTING")
             self.phase = Phase.EXECUTION
 
         if self.phase == Phase.EXECUTION:
-            print("Execution")
+            self.current_order = self.forklift_agent.current_order
+            pass
+            # print("Execution")
 
     def recognise_item(self, item: Item):
         val = image_classification(self.picture_visualization.img, self.classificator)

main.py

@@ -1,4 +1,3 @@
-import math
 import random
 
 from mesa.visualization.ModularVisualization import ModularServer
@@ -7,20 +6,15 @@ from tensorflow import keras
 
 from ForkliftAgent import ForkliftAgent
 from GameModel import GameModel
-from InitialStateFactory import InitialStateFactory
 from ItemDisplayAgent import ItemDisplayAgent
 from PatchAgent import PatchAgent
 from PatchType import PatchType
 from PictureVisualizationAgent import PictureVisualizationAgent
-from data.Order import Order
 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 visualization.DisplayAttributeElement import DisplayAttributeElement
 from visualization.DisplayItemListAttribute import DisplayItemListAttributeElement
+from visualization.DisplayOrder import DisplayOrder
 from visualization.DisplayOrderList import DisplayOrderList
 
 colors = [
@@ -104,26 +98,27 @@ if __name__ == '__main__':
     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.puddles = [(2, 2), (2, 5), (2, 6), (5, 4)]
-    diagram.packingStations = [(PatchType.packingShelf, (4, 8)), (PatchType.packingRefrigerator, (4, 6)), (PatchType.packingDoor, (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)
 
     display_items = [(6, 11), (7, 11), (8, 11), (9, 11)]
 
     readyText = DisplayAttributeElement("phase")
-    # current_item = DisplayPictureElement("current_item_recognition")
     provided_itesm = DisplayItemListAttributeElement("provided_items")
     recognised_items = DisplayItemListAttributeElement("recognised_items")
+    current_order = DisplayOrder("current_order")
+    current_item = DisplayAttributeElement("current_item")
     ordersText = DisplayOrderList("orderList")
     fulfilled_orders = DisplayOrderList("fulfilled_orders")
 
     model = keras.models.load_model("imageClasification/my_model")
 
     server = ModularServer(GameModel,
-                           [grid, readyText, provided_itesm, recognised_items, ordersText,
-                            fulfilled_orders],
+                           [grid, readyText, current_item, current_order, fulfilled_orders, ordersText],
                            "Automatyczny Wózek Widłowy",
-                           dict(width=gridHeight, height=gridWidth, graph=diagram, items=50, orders=3,
+                           dict(width=gridHeight, height=gridWidth, graph=diagram, items=60, orders=20,
                                 classificator=model, item_display_pos=display_items))
 
     server.port = 8888

visualization/DisplayOrder.py

@@ -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

visualization/DisplayOrderList.py

@@ -4,7 +4,6 @@ from typing import List
 from mesa.visualization.modules import TextElement
 
 from data.Order import Order
-from data.enum.ItemType import ItemType
 
 
 class DisplayOrderList(TextElement):
@@ -21,35 +20,36 @@ class DisplayOrderList(TextElement):
 
     def render(self, model):
         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:
-            if o is None:
-                continue
+                itemList = map(lambda x: x.real_type, o.items)
+                itemCounter = Counter(itemList)
 
-            itemList = map(lambda x: x.real_type, o.items)
-            itemCounter = Counter(itemList)
+                item_str = "<ul>"
+                for e in itemCounter:
+                    key = e
+                    val = itemCounter[key]
 
-            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"
 
-                # 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 += 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